Affiliation:
1. School of Control Science and Engineering, Shandong University, Jinan, China
Abstract
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.
Funder
Key Technology Research and Development Program of Shandong
National Natural Science Foundation of China
National Key Research and Development Program of China
Natural Science Foundation of Shandong Province
Subject
Artificial Intelligence,Computer Science Applications,Software
Cited by
6 articles.
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