文章基本信息

标题：Research on Open-Closed-Loop Iterative Learning Control with Variable Forgetting Factor of Mobile Robots
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作者：Hongbin Wang ; Jian Dong ; Yueling Wang 等
期刊名称：Discrete Dynamics in Nature and Society
印刷版ISSN：1026-0226
电子版ISSN：1607-887X
出版年度：2016
卷号：2016
DOI：10.1155/2016/6452179
出版社：Hindawi Publishing Corporation
摘要：We propose an iterative learning control algorithm (ILC) that is developed using a variable forgetting factor to control a mobile robot. The proposed algorithm can be categorized as an open-closed-loop iterative learning control, which produces control instructions by using both previous and current data. However, introducing a variable forgetting factor can weaken the former control output and its variance in the control law while strengthening the robustness of the iterative learning control. If it is applied to the mobile robot, this will reduce position errors in robot trajectory tracking control effectively. In this work, we show that the proposed algorithm guarantees tracking error bound convergence to a small neighborhood of the origin under the condition of state disturbances, output measurement noises, and fluctuation of system dynamics. By using simulation, we demonstrate that the controller is effective in realizing the prefect tracking.