Learning control algorithm based on relative degree of nonlinear systems with application to nonholonomic mobile robots (Q2766019)
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scientific article; zbMATH DE number 1695281
| Language | Label | Description | Also known as |
|---|---|---|---|
| English | Learning control algorithm based on relative degree of nonlinear systems with application to nonholonomic mobile robots |
scientific article; zbMATH DE number 1695281 |
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21 May 2002
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mobile robots
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iterative learning control
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relative degree
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trajectory tracking
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nonholonomic mechanical system
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nonlinear systems
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Learning control algorithm based on relative degree of nonlinear systems with application to nonholonomic mobile robots (English)
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This paper addresses the learning control problem of nonlinear control systems. Based on the relative degree of nonlinear systems, an iterative learning control algorithm is proposed and the convergence is also proved. The proposed scheme adjusts the control input repeatedly by using the input and output tracking error signal of the previous operation until perfect tracking is achieved. The algorithm is then applied to a two-wheel steering nonholonomic mobile robot, and numerical simulations are performed to show its efficiency.
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