标题：Path-tracking of Mobile Robot Using Feedback-aided P-type Iterative Learning Control against Initial State Error
作者：Yang Zhao;Fengyu Zhou;Da Wang;Yan Li;
作者机构：[Yang Zhao;Fengyu Zhou;Da Wang;Yan Li]School of Control Science and Engineering, Shandong University;[Yang Zhao;Fengyu Zhou;Da Wang;Yan Li]School of M 更多
来源：Proceedings of 2017 IEEE 6th Data Driven Control and Learning Systems Conference (DDCLS’17)
关键词：Nonholonomic Mobile Robot;Iterative Learning Control;Initial Shifts;Path Tracking and Robotic Dynamics
摘要：In this paper, we present an iterative learning control(ILC) frameworks for robust path-tracking problem of nonholonomic mobile robots in the presence of initial shifts. The major difficulties are owning to the simultaneous existence of state disturbances and biased initial state in the mobile robot...