输入受限下非完整轮式移动机器人迭代学习跟踪控制

为了解决输入受限下非完整轮式移动机器人的跟踪控制问题,考虑迭代学习控制方法,设计了一种迭代学习控制律,这里所设计的迭代学习控制律结合了系统的跟踪误差和约束下的上一代控制律.通过应用范数分析理论,对跟踪误差的收敛性进行了理论分析,验证了设计的控制律的有效性.最后,给出了一个仿真实例以证明理论分析结果的正确性,仿真结果表明,在设计的迭代学习控制律作用下,具有输入受限的非完整轮式移动机器人能够获得很好的跟踪控制性能,跟踪误差最终收敛于零的很小邻域内.

Iterative learning tracking control of nonholonomic wheeled mobile robot with input constraint

This paper addresses the tracking control problem of nonholonomic wheeled mobile robot with input saturation. An iterative learning control law with iterative leaning control method is designed, where the designed control law combines the tracking error of mobile robot system and the previous generation control law under constraint. Moreover, the convergence of the tracking error is analyzed by using the norm theory, and then the validity of the designed control law is verified. Finally, this paper gives a simulation example to prove the effectiveness of the theoretical analysis. The simulation results show that the nonholonomic wheeled mobile robot with input saturation can obtain good tracking control performance under the designed iterative learning control law, and the tracking error can converge to a small neighborhood of zero.