一种基于迭代学习的移动机器人轨迹跟踪控制方法

摘要

机器人迭代学习在某些场合下有着重要的应用.传统的P型或PD迭代学习需要较长的迭代过程,本文提出了一种具有快速收敛的迭代学习策略.在给出的轮式移动机器人运动学模型基础上进行了仿真,结果证明了策略的有效性.%The Robot iterative learning in some places has an important application. Compared with the traditional typesof P or PD iterative learning ,this paper proposes a kind of iterative learning strategies which have a rapid convergence,and then we have a simulation based on the robot kinematics model given. The results show the effectiveness of thestrategy.