Abstract:In this article, a robust discrete-time open-closed-loop proportion integral differential (PID) -type iteration learning control (ILC) algorithm is developed for the high-precision trajectory tracking control of tracked mobile robots (TMRs) with external disturbances and noises. The proposed ILC algorithm adopts the past, current, and predictive learning error items of the former and current iterations to correct the current control input variables, which finally converges to the desired trajectory through con… Show more
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