Trajectory tracking control for a nonholonomic mobile robot using an improved ILC

Ruidong Xi; Yangmin Li; Xiao Xiao

doi:10.1109/ICInfA.2014.6932766

Trajectory tracking control for a nonholonomic mobile robot using an improved ILC

Ruidong Xi, Yangmin Li, Xiao Xiao

Research output: Chapter in book / Conference proceeding › Conference article published in proceeding or book › Academic research › peer-review

18 Citations (Scopus)

Abstract

This paper develops a kinematic path-tracking algorithm for a nonholonomic mobile robot using an improved iterative learning control (I-ILC) technique. The proposed algorithm produces a velocity command to the wheeled robot, in addition, the state disturbances and measurement noises are taken into consideration. In the learning rule, an adjustable parameter is defined and by adjusting this parameter we can obtain the best learning rule. From the simulation results we find that the system outputs and control inputs are bounded to converge to the desired values. The MATLAB software is used for simulation to verify the feasibility and validity of the proposed learning algorithm.

Original language	English
Title of host publication	2014 IEEE International Conference on Information and Automation, ICIA 2014
Publisher	IEEE
Pages	830-835
Number of pages	6
ISBN (Electronic)	9781479941001
DOIs	https://doi.org/10.1109/ICInfA.2014.6932766
Publication status	Published - 1 Jan 2014
Externally published	Yes
Event	2014 IEEE International Conference on Information and Automation, ICIA 2014 - Hailar, Hulunbuir, China Duration: 28 Jul 2014 → 30 Jul 2014

Conference

Conference	2014 IEEE International Conference on Information and Automation, ICIA 2014
Country/Territory	China
City	Hailar, Hulunbuir
Period	28/07/14 → 30/07/14

Keywords

iterative learning control
nonholonomic mobile robot
Trajectory tracking

ASJC Scopus subject areas

Modelling and Simulation

More information

10.1109/ICInfA.2014.6932766

Cite this

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title = "Trajectory tracking control for a nonholonomic mobile robot using an improved ILC",

abstract = "This paper develops a kinematic path-tracking algorithm for a nonholonomic mobile robot using an improved iterative learning control (I-ILC) technique. The proposed algorithm produces a velocity command to the wheeled robot, in addition, the state disturbances and measurement noises are taken into consideration. In the learning rule, an adjustable parameter is defined and by adjusting this parameter we can obtain the best learning rule. From the simulation results we find that the system outputs and control inputs are bounded to converge to the desired values. The MATLAB software is used for simulation to verify the feasibility and validity of the proposed learning algorithm.",

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Xi, R, Li, Y & Xiao, X 2014, Trajectory tracking control for a nonholonomic mobile robot using an improved ILC. in 2014 IEEE International Conference on Information and Automation, ICIA 2014., 6932766, IEEE, pp. 830-835, 2014 IEEE International Conference on Information and Automation, ICIA 2014, Hailar, Hulunbuir, China, 28/07/14. https://doi.org/10.1109/ICInfA.2014.6932766

Trajectory tracking control for a nonholonomic mobile robot using an improved ILC. / Xi, Ruidong; Li, Yangmin; Xiao, Xiao.
2014 IEEE International Conference on Information and Automation, ICIA 2014. IEEE, 2014. p. 830-835 6932766.

Research output: Chapter in book / Conference proceeding › Conference article published in proceeding or book › Academic research › peer-review

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N2 - This paper develops a kinematic path-tracking algorithm for a nonholonomic mobile robot using an improved iterative learning control (I-ILC) technique. The proposed algorithm produces a velocity command to the wheeled robot, in addition, the state disturbances and measurement noises are taken into consideration. In the learning rule, an adjustable parameter is defined and by adjusting this parameter we can obtain the best learning rule. From the simulation results we find that the system outputs and control inputs are bounded to converge to the desired values. The MATLAB software is used for simulation to verify the feasibility and validity of the proposed learning algorithm.

AB - This paper develops a kinematic path-tracking algorithm for a nonholonomic mobile robot using an improved iterative learning control (I-ILC) technique. The proposed algorithm produces a velocity command to the wheeled robot, in addition, the state disturbances and measurement noises are taken into consideration. In the learning rule, an adjustable parameter is defined and by adjusting this parameter we can obtain the best learning rule. From the simulation results we find that the system outputs and control inputs are bounded to converge to the desired values. The MATLAB software is used for simulation to verify the feasibility and validity of the proposed learning algorithm.

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Trajectory tracking control for a nonholonomic mobile robot using an improved ILC

Abstract

Conference

Keywords

ASJC Scopus subject areas

More information

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