A Modified Trajectory Tracking Algorithm Based on ILC for Mobile Robots

Abstract

Aiming at solving the problem of trajectory tracking of the wheeled mobile robot, a modified Iterative Learning Control (ILC) algorithm based on the kinematics model is presented in this paper. The idea of the Model Algorithmic Learning Law is introduced to the classical open-closed loop ILC, which can improve the effect of the control law. The convergence of the new algorithm is demonstrated in the paper and it is shown from the simulation experiments that the method presented in this paper can achieve a better robot trajectory tracking performance compared with the traditional one.