Wheeled Robot Control Problem

In this paper, the theory of nonholonomic system is introduced and the kinematic models of a wheeled -robot with nonholonomic constratints is built. An iterative learning controller with piecewise constant inputs is applied to motion planning of a mobile robot, as well as other system that can be put in chained form. Theoretical analysis and simulation indicate that the algorithm have good robustness properties with respect to some perturbations. The D type learning law is studied for trajectory tracking of mobile robots. To verify the performance, the simulation is showed. For path tracking, we describe mobile robot model and desired path in polar coordinate and determine reference points with polar angle to avoid the adverse effect on controller because of deliberate choice. Based on Lyapunov function, the whole design of controller is simple and flexible. Simulations show that the mobile robots can accurately follow desired paths and eliminate the influence of disturbances.