A novel iterative learning control (ILC) algorithm for a two-wheeled self-balancing mobile robot with time-varying, nonlinear, and\nstrong-coupling dynamics properties is presented to resolve the trajectory tracking problem in this research. A kinematics model\nand dynamic model of a two-wheeled self-balancing mobile robot are deduced in this paper, and the combination of an openclosed-\nloop PD-ILC law and a variable forgetting factor is presented.The open-closed-loop PD-ILC algorithm adopts current and\npast learning items to drive the state variables and input variables, and the output variables converge to the bounded scope of their\ndesired values. In addition, introducing a variable forgetting factor can enhance the robustness and stability of ILC. Numerous\nsimulation and experimental data demonstrate that the proposed control scheme has better feasibility and effectiveness than the\ntraditional control algorithm.
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