Trajectory tracking of wheeled robot based on iterative learning control

A kinematics model for a claws of wheeled robot is analyzed and built in this paper. The application of D-type iterative learning control in trajectory tracking of wheeled robot is studied. An iterative learning control algorithm and its convergent condition are given. This algorithm has advantages of simplicity and depending 1;~le on the model. The results of simulation show that the presented iterative learning control can solve the problems of trajectory tracking: for nonholonomic system successfully. The algorithm has good robustness to measuring parameter errors. By simulation it is proved that good tracking performance can be obtained.