Through studying tracking problems of the wheeled mobile robot, this paper proposed a discrete iterative learning control approach based on PID with strong adaptability, fast convergence, and small error. This algorithm used discrete PID to filter rejection and restrained the influence of interference and noise on trajectory tracking, which made it more suitable for engineering application. The PID-type iterative learning convergence condition and certification procedure are presented. The results of simulation reveal that the PID-type ILC holds the features of simplicity, strong robustness, and high repeating precision and can well meet the control requirement of nonlinear discrete system.
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