Open-Closed-Loop PD Iterative Learning Control with a Variable Forgetting Factor for a Two-Wheeled Self-Balancing Mobile Robot
Joint Authors
Zhang, Chenghong
Dong, Jian
Li, Gang
He, Bin
Source
Issue
Vol. 2019, Issue 2019 (31 Dec. 2019), pp.1-11, 11 p.
Publisher
Hindawi Publishing Corporation
Publication Date
2019-08-08
Country of Publication
Egypt
No. of Pages
11
Main Subjects
Abstract EN
A novel iterative learning control (ILC) algorithm for a two-wheeled self-balancing mobile robot with time-varying, nonlinear, and strong-coupling dynamics properties is presented to resolve the trajectory tracking problem in this research.
A kinematics model and dynamic model of a two-wheeled self-balancing mobile robot are deduced in this paper, and the combination of an open-closed-loop PD-ILC law and a variable forgetting factor is presented.
The open-closed-loop PD-ILC algorithm adopts current and past learning items to drive the state variables and input variables, and the output variables converge to the bounded scope of their desired values.
In addition, introducing a variable forgetting factor can enhance the robustness and stability of ILC.
Numerous simulation and experimental data demonstrate that the proposed control scheme has better feasibility and effectiveness than the traditional control algorithm.
American Psychological Association (APA)
Dong, Jian& He, Bin& Zhang, Chenghong& Li, Gang. 2019. Open-Closed-Loop PD Iterative Learning Control with a Variable Forgetting Factor for a Two-Wheeled Self-Balancing Mobile Robot. Complexity،Vol. 2019, no. 2019, pp.1-11.
https://search.emarefa.net/detail/BIM-1132166
Modern Language Association (MLA)
Dong, Jian…[et al.]. Open-Closed-Loop PD Iterative Learning Control with a Variable Forgetting Factor for a Two-Wheeled Self-Balancing Mobile Robot. Complexity No. 2019 (2019), pp.1-11.
https://search.emarefa.net/detail/BIM-1132166
American Medical Association (AMA)
Dong, Jian& He, Bin& Zhang, Chenghong& Li, Gang. Open-Closed-Loop PD Iterative Learning Control with a Variable Forgetting Factor for a Two-Wheeled Self-Balancing Mobile Robot. Complexity. 2019. Vol. 2019, no. 2019, pp.1-11.
https://search.emarefa.net/detail/BIM-1132166
Data Type
Journal Articles
Language
English
Notes
Includes bibliographical references
Record ID
BIM-1132166