%0 Journal Article
%T Improved iterative learning control method for mobile robot trajectory tracking<br>一种改进的移动机器人轨迹跟踪迭代学习方法
%A ZHANG Yang-ming
%A LIU Guo-rong
%A LAN Yong-hong
%A <br>张扬名
%A 刘国荣
%A 兰永红
%J 计算机应用研究
%D 2012
%I 
%X Through studying trajectory tracking optimization problems of the wheeled mobile robot, this paper proposed a iterative learning control approach based on Kalman filter with strong adaptability, fast convergence and small error. In order to bring the advantages of Kalman filtering algorithm and the iterative learning control algorithm into full play, it used the introduction of state compensation term and designed new iterative learning gain matrix to improve the law of iterative learning control. An improved iterative learning control could track the desired circular trajectory more quickly, more accuratly and more effectively. It used a discrete Kalman filter to filter rejection and noise, and restrained the influence of interference and noise on trajectory tracking. It made this algorithm more suitable for engineering application. Experiments and computer simulations show that the method has good tracking ability.
%K wheeled mobile robot
%K trajectory tracking
%K iterative learning control
%K Kalman filiter
%K engineering application<br>轮式移动机器人
%K 轨迹跟踪
%K 迭代学习控制
%K Kalman滤波
%K 工程应用
%U http://www.alljournals.cn/get_abstract_url.aspx?pcid=5B3AB970F71A803DEACDC0559115BFCF0A068CD97DD29835&cid=8240383F08CE46C8B05036380D75B607&jid=A9D9BE08CDC44144BE8B5685705D3AED&aid=38AAB79AD8A56B534F9688A1839F9D77&yid=99E9153A83D4CB11&vid=771469D9D58C34FF&iid=F3090AE9B60B7ED1&sid=74E1042806E71781&eid=A45611A33EDC4FCE&journal_id=1001-3695&journal_name=计算机应用研究&referenced_num=0&reference_num=12