Iterative learning control of wheeled robot trajectory tracking

This paper builds and analyzes kinematics model for a class of wheeled mobile robot. Trajectory tracking problem of the WMRs is analyzed and a new control scheme is presented. in the paper, the rear wheel angle velocity is gained by iterative learning algorithm of tracking a virtual wheeled robot and deflection angular velocity is gained by D-type iterative learning algorithm. The convergent conditions of the iterative learning control algorithm are given. This algorithm has advantages of simplicity and depending little on the model. The results of simulation show that the presented iterative learning control can solve the problems of trajectory tracking for nonholonomic system successfully. The algorithm has good robustness to measuring parameter errors. Good tracking performance has been obtained.