Iterative learning control for trajectory tracking of tensegrity robot

Currently in robotics field, various new forms of robots are emerged that are different from existing robots. One of them is the mobile robot having a tensegrity structure. In this paper, the tensegrity is employed for a design of a mobile robot that can be used in irregular environment. But the tensegrity structure is highly nonlinear; so it is very difficult to control. In order to deal with this problem, iterative learning control (ILC) is applied in the tensegrity system. ILC is commonly used for nonlinear processes and shows a relatively good performance. This paper uses ILC for controlling the tensegrity system.