Learning Control Algorithm Based on Relative Degree of Nonlinear Systems with Application to Nonholonomic Mobile Robots
基于非线性系统相对度的学习控制算法及在非完整移动机器人中的应用

This paper addresses the learning control problem of nonlinear control systems. Based on the relative degree of nonlinear systems, an iterative learning control algorithm is proposed and the convergence is also proved. The proposed scheme adjusts the control input repeatedly by using the input and output tracking error signal of the previous operation until perfect tracking is achieved. The algorithm is then applied to a two wheel steering nonholonomic mobile robot, and numerical simulations are performed to show its efficiency.