Abstract
Through studying tracking problems of the wheeled mobile robot, this paper proposed a discrete iterative learning control approach based on PID with strong adaptability, fast convergence, and small error. This algorithm used discrete PID to filter rejection and restrained the influence of interference and noise on trajectory tracking, which made it more suitable for engineering application. The PID-type iterative learning convergence condition and certification procedure are presented. The results of simulation reveal that the PID-type ILC holds the features of simplicity, strong robustness, and high repeating precision and can well meet the control requirement of nonlinear discrete system.
Highlights
Iterative learning control (ILC) [1, 2] is an advanced control which can realize repetitive control and antidisturbance, tracking the trajectory with high precision independent of accurate mathematical models for its control
A substantial proportion of inchoate ILC algorithms was applied in the continuous-time systems [3, 4]
Some ILC algorithms have been developed for discrete-time systems, but they are restricted to linear systems [5, 6]
Summary
Iterative learning control (ILC) [1, 2] is an advanced control which can realize repetitive control and antidisturbance, tracking the trajectory with high precision independent of accurate mathematical models for its control. Many ILC algorithms [12, 13] have been used in motion controller system and a certain number of simulation results display the effectiveness of these algorithms They can help the mobile robot to better track the desired trajectory iteratively. The closed-open-loop P-type iterative learning control scheme [20] for mobile robot system is proposed. It can reduce the system steady-state error and improve the control precision, the relative stability and convergence speed of control systems can be whittled down further. The contribution of this paper is applying PID-type ILC algorithm to the nonlinear discrete system of mobile robot.
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