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Research on Open-Closed-Loop Iterative Learning Control with Variable Forgetting Factor of Mobile Robots
Joint Authors
Wang, Hongbin
Dong, Jian
Wang, Yueling
Source
Discrete Dynamics in Nature and Society
Issue
Vol. 2016, Issue 2016 (31 Dec. 2016), pp.1-6, 6 p.
Publisher
Hindawi Publishing Corporation
Publication Date
2016-11-21
Country of Publication
Egypt
No. of Pages
6
Main Subjects
Abstract EN
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.
American Psychological Association (APA)
Wang, Hongbin& Dong, Jian& Wang, Yueling. 2016. Research on Open-Closed-Loop Iterative Learning Control with Variable Forgetting Factor of Mobile Robots. Discrete Dynamics in Nature and Society،Vol. 2016, no. 2016, pp.1-6.
https://search.emarefa.net/detail/BIM-1103520
Modern Language Association (MLA)
Wang, Hongbin…[et al.]. Research on Open-Closed-Loop Iterative Learning Control with Variable Forgetting Factor of Mobile Robots. Discrete Dynamics in Nature and Society No. 2016 (2016), pp.1-6.
https://search.emarefa.net/detail/BIM-1103520
American Medical Association (AMA)
Wang, Hongbin& Dong, Jian& Wang, Yueling. Research on Open-Closed-Loop Iterative Learning Control with Variable Forgetting Factor of Mobile Robots. Discrete Dynamics in Nature and Society. 2016. Vol. 2016, no. 2016, pp.1-6.
https://search.emarefa.net/detail/BIM-1103520
Data Type
Journal Articles
Language
English
Notes
Includes bibliographical references
Record ID
BIM-1103520