标题：A novel iterative learning path-tracking control for nonholonomic mobile robots against initial shifts
作者：Zhao, Yang; Zhou, Fengyu; Li, Yan; Wang, Yugang
作者机构：[Zhao, Yang; Zhou, Fengyu; Li, Yan; Wang, Yugang] Shandong Univ, Sch Control Sci & Engn, Jinan, Peoples R China.
通讯作者地址：[Zhou, FY]Shandong Univ, Jingshi Rd, Jinan 250061, Peoples R China.
来源：INTERNATIONAL JOURNAL OF ADVANCED ROBOTIC SYSTEMS
关键词：Iterative learning control; nonholonomic mobile robot; initial shift;; path tracking
摘要：In this article, we propose a novel discrete-time iterative learning control framework for robust path-tracking problem of nonholonomic mobile robots. The contributions of this iterative learning control framework are threefolds: (1) With the application of a conventional feedback-aided P-type learning algorithm, the tracking error caused by a nonzero initial shift is detected. (2) By the introduction of an initial rectifying term, a novel iterative learning control scheme is proposed to improve the tracking performance. Sufficient conditions of convergence of this approach are given. (3) The convergence of the proposed algorithm for achieving the desired trajectory over a specified interval is proven theoretically. Simulation results validate the effectiveness of the proposed scheme.