G. Oriolo et al., AN ITERATIVE LEARNING CONTROLLER FOR NONHOLONOMIC MOBILE ROBOTS, The International journal of robotics research, 17(9), 1998, pp. 954-970
Citations number
24
Categorie Soggetti
Robotics & Automatic Control","Robotics & Automatic Control
We present an iterative learning controller that applies to nonholonom
ic mobile robots, as well as other systems that can be put in chained
form. The learning algorithm exploits the fact that chained form syste
ms are linear under piecewise-constant inputs. The proposed control sc
heme requires the execution of a small number of experiments to drive
the system to the desired state infinite time, with nice convergence a
nd robustness properties with respect to modeling inaccuracies as well
as disturbances. To avoid the necessity of exactly reinitializing the
system at each iteration, the basic method is modified so as to obtai
n a cyclic controller by which the system is cyclically steered throug
h an arbitrary sequence of states. As a case study, a carlike mobile r
obot is considered. Both simulation and experimental results are repor
ted to show the performance of the method.