A Trajectory Tracking Control Based on Improved Iterative Learning Algorithm

Abstract

Aiming at the problems of slow tracking speed and low precision of iterative learning control (ILC) algorithm in thetrace the trajectorycontrol of mobile robot system, this paper suggested a new improved ILCmethod for mobile robot trajectory tracking control, which effectively improves the tracking speed and accuracy. Firstly, the kinematics model of wheeled mobile robot is established.Secondly, the fourth-stage Runge-Kutta(R-K) algorithm is usedfor solving the state differential equations of mobile robot, and the ILCmethod is used to track the trajectory of the mobile robot. The strict theoretical analysis of this method is carried out, and trajectory tracking error convergence and system stability are proved. At the end of the paper, the availability of our proposed method is certified by results.