Iterative learning control technique for mobile robot path-tracking control

1999 ◽  
Author(s):  
Kevin L. Moore ◽  
Vikas Bahl
Keyword(s):  
Mobile Robot ◽  
Tracking Control ◽  
Iterative Learning Control ◽  
Learning Control ◽  
Path Tracking ◽  
Iterative Learning ◽  
Control Technique ◽  
Robot Path

Kinematic path-tracking of mobile robot using iterative learning control

2005 ◽  
Vol 22 (2) ◽  
pp. 111-121 ◽  
Author(s):  
Min K. Kang ◽  
Jin S. Lee ◽  
Kyoung L. Han
Keyword(s):  
Mobile Robot ◽  
Iterative Learning Control ◽  
Learning Control ◽  
Path Tracking ◽  
Iterative Learning

Lateral robust iterative learning control for unmanned driving robot vehicle

2020 ◽  
Vol 234 (7) ◽  
pp. 792-808
Author(s):  
Shuhua Su ◽  
Gang Chen
Keyword(s):  
Dynamic Model ◽  
Iterative Learning Control ◽  
Tracking Error ◽  
Learning Control ◽  
Steering System ◽  
Path Tracking ◽  
Iterative Learning ◽  
Control Law ◽  
Vehicle Dynamic ◽  
Vehicle Dynamic Model

In order to achieve stable steering and path tracking, a lateral robust iterative learning control method for unmanned driving robot vehicle is proposed. Combining the nonlinear tire dynamic model with the vehicle dynamic model, the nonlinear vehicle dynamic model is constructed. The structure of steering manipulator of unmanned driving robot vehicle is analyzed, and the kinematics model and dynamics model of steering manipulator of unmanned driving robot vehicle are established. The structure of vehicle steering system is analyzed, and the dynamic model of vehicle steering system is established. Vehicle steering angle model is established by taking vehicle path tracking error and vehicle yaw angle error as input. Combining with the typical iterative learning control law, the robust term is added to the control law, and a robust iterative learning controller for steering manipulator system of unmanned driving robot vehicle is designed. The proposed controller’s stability and astringency are proved. The effectiveness of the proposed method is verified by comparing it with other control methods and human driver simulation tests.

scholarly journals Iterative learning control for path tracking of service robot in perspective dynamic system with uncertainties

2020 ◽  
Vol 17 (6) ◽  
pp. 172988142096852
Author(s):  
Wang Yugang ◽  
Zhou Fengyu ◽  
Zhao Yang ◽  
Li Ming ◽  
Yin Lei
Keyword(s):  
Dynamic System ◽  
Iterative Learning Control ◽  
Learning Control ◽  
Path Tracking ◽  
Iterative Learning ◽  
Service Robots ◽  
Service Robot ◽  
Mobile Service ◽  
Motion Information ◽  
Mobile Service Robots

A novel iterative learning control (ILC) for perspective dynamic system (PDS) is designed and illustrated in detail in this article to overcome the uncertainties in path tracking of mobile service robots. PDS, which transmits the motion information of mobile service robots to image planes (such as a camera), provides a good control theoretical framework to estimate the robot motion problem. The proposed ILC algorithm is applied in accordance with the observed motion information to increase the robustness of the system in path tracking. The convergence of the presented learning algorithm is derived as the number of iterations tends to infinity under a specified condition. Simulation results show that the designed framework performs efficiently and satisfies the requirements of trajectory precision for path tracking of mobile service robots.

Research on Synchronous Control Technique of the Tube Hydroforming

2012 ◽  
Vol 233 ◽  
pp. 142-145
Author(s):  
Jin Yu ◽  
Deng Xu ◽  
Guo Qing Huang
Keyword(s):  
Control Strategy ◽  
Iterative Learning Control ◽  
Tube Hydroforming ◽  
Great Influence ◽  
Learning Control ◽  
Iterative Learning ◽  
Control Technique ◽  
Important Indicator ◽  
Synchronous Control ◽  
Control Accuracy

Synchronous control accuracy of side-cylinders of the hydroforming press is a very important indicator , it has a great influence on the quality of products. Generally, people take PID control strategy to improve the precision of hydroforming press. In this paper, a mathematical model of the side-cylinders’ hydraulic system is established and the PID and iterative learning control strategy is used, respectively, to find which one is better . The results show that the iterative learning control strategy has a higher synchronous control accuracy.

Iterative learning control for a distributed cloud robot with payload delivery

2021 ◽  
Vol ahead-of-print (ahead-of-print) ◽  
Author(s):  
Jiehao Li ◽  
Shoukun Wang ◽  
Junzheng Wang ◽  
Jing Li ◽  
Jiangbo Zhao ◽  
...  
Keyword(s):  
Trajectory Tracking ◽  
Tracking Control ◽  
Iterative Learning Control ◽  
Learning Control ◽  
Iterative Learning ◽  
Robot System ◽  
Trajectory Tracking Control ◽  
Content Type ◽  
Motion Models ◽  
Distributed Cloud

Purpose When it comes to the high accuracy autonomous motion of the mobile robot, it is challenging to effectively control the robot to follow the desired trajectory and transport the payload simultaneously, especially for the cloud robot system. In this paper, a flexible trajectory tracking control scheme is developed via iterative learning control to manage a distributed cloud robot (BIT-6NAZA) under the payload delivery scenarios. Design/methodology/approach Considering the relationship of six-wheeled independent steering in the BIT-6NAZA robot, an iterative learning controller is implemented for reliable trajectory tracking with the payload transportation. Meanwhile, the stability analysis of the system ensures the effective convergence of the algorithm. Findings Finally, to evaluate the developed method, some demonstrations, including the different motion models and tracking control, are presented both in simulation and experiment. It can achieve flexible tracking performance of the designed composite algorithm. Originality/value This paper provides a feasible method for the trajectory tracking control in the cloud robot system and simultaneously promotes the robot application in practical engineering.

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