1. School of Electrical Engineering, Anhui Polytechnic University，2. Key Laboratory of Advanced Preception and Intelligent Control of High-end Equipment,Ministry of Education, Anhui Polytechnic University 在期刊界中查找 在百度中查找 在本站中查找
1. School of Electrical Engineering, Anhui Polytechnic University，2. Key Laboratory of Advanced Preception and Intelligent Control of High-end Equipment,Ministry of Education, Anhui Polytechnic University 在期刊界中查找 在百度中查找 在本站中查找
This paper addresses the tracking control problem of nonholonomic wheeled mobile robot with input saturation. An iterative learning control law with iterative leaning control method is designed, where the designed control law combines the tracking error of mobile robot system and the previous generation control law under constraint. Moreover, the convergence of the tracking error is analyzed by using the norm theory, and then the validity of the designed control law is verified. Finally, this paper gives a simulation example to prove the effectiveness of the theoretical analysis. The simulation results show that the nonholonomic wheeled mobile robot with input saturation can obtain good tracking control performance under the designed iterative learning control law, and the tracking error can converge to a small neighborhood of zero.
