移动机器人离散pid型迭代学习控制

IF 1 Q4 AUTOMATION & CONTROL SYSTEMS

Journal of Control Science and Engineering Pub Date : 2016-12-01 DOI:10.1155/2016/2320746

Hongbin Wang, Jianwei Dong, Yueling Wang

{"title":"移动机器人离散pid型迭代学习控制","authors":"Hongbin Wang, Jianwei Dong, Yueling Wang","doi":"10.1155/2016/2320746","DOIUrl":null,"url":null,"abstract":"Through studying tracking problems of the wheeled mobile robot, this paper proposed a discrete iterative learning control approach based on PID with strong adaptability, fast convergence, and small error. This algorithm used discrete PID to filter rejection and restrained the influence of interference and noise on trajectory tracking, which made it more suitable for engineering application. The PID-type iterative learning convergence condition and certification procedure are presented. The results of simulation reveal that the PID-type ILC holds the features of simplicity, strong robustness, and high repeating precision and can well meet the control requirement of nonlinear discrete system.","PeriodicalId":46052,"journal":{"name":"Journal of Control Science and Engineering","volume":null,"pages":null},"PeriodicalIF":1.0000,"publicationDate":"2016-12-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":"9","resultStr":"{\"title\":\"Discrete PID-Type Iterative Learning Control for Mobile Robot\",\"authors\":\"Hongbin Wang, Jianwei Dong, Yueling Wang\",\"doi\":\"10.1155/2016/2320746\",\"DOIUrl\":null,\"url\":null,\"abstract\":\"Through studying tracking problems of the wheeled mobile robot, this paper proposed a discrete iterative learning control approach based on PID with strong adaptability, fast convergence, and small error. This algorithm used discrete PID to filter rejection and restrained the influence of interference and noise on trajectory tracking, which made it more suitable for engineering application. The PID-type iterative learning convergence condition and certification procedure are presented. The results of simulation reveal that the PID-type ILC holds the features of simplicity, strong robustness, and high repeating precision and can well meet the control requirement of nonlinear discrete system.\",\"PeriodicalId\":46052,\"journal\":{\"name\":\"Journal of Control Science and Engineering\",\"volume\":null,\"pages\":null},\"PeriodicalIF\":1.0000,\"publicationDate\":\"2016-12-01\",\"publicationTypes\":\"Journal Article\",\"fieldsOfStudy\":null,\"isOpenAccess\":false,\"openAccessPdf\":\"\",\"citationCount\":\"9\",\"resultStr\":null,\"platform\":\"Semanticscholar\",\"paperid\":null,\"PeriodicalName\":\"Journal of Control Science and Engineering\",\"FirstCategoryId\":\"1085\",\"ListUrlMain\":\"https://doi.org/10.1155/2016/2320746\",\"RegionNum\":0,\"RegionCategory\":null,\"ArticlePicture\":[],\"TitleCN\":null,\"AbstractTextCN\":null,\"PMCID\":null,\"EPubDate\":\"\",\"PubModel\":\"\",\"JCR\":\"Q4\",\"JCRName\":\"AUTOMATION & CONTROL SYSTEMS\",\"Score\":null,\"Total\":0}","platform":"Semanticscholar","paperid":null,"PeriodicalName":"Journal of Control Science and Engineering","FirstCategoryId":"1085","ListUrlMain":"https://doi.org/10.1155/2016/2320746","RegionNum":0,"RegionCategory":null,"ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":null,"EPubDate":"","PubModel":"","JCR":"Q4","JCRName":"AUTOMATION & CONTROL SYSTEMS","Score":null,"Total":0}

引用次数: 9

摘要

通过对轮式移动机器人跟踪问题的研究，提出了一种适应性强、收敛速度快、误差小的基于PID的离散迭代学习控制方法。该算法采用离散PID滤波抑制，抑制了干扰和噪声对轨迹跟踪的影响，更适合工程应用。给出了pid型迭代学习的收敛条件和证明过程。仿真结果表明，pid型ILC具有结构简单、鲁棒性强、重复精度高等特点，能够很好地满足非线性离散系统的控制要求。

本文章由计算机程序翻译，如有差异，请以英文原文为准。

查看原文本刊更多论文

Discrete PID-Type Iterative Learning Control for Mobile Robot

Through studying tracking problems of the wheeled mobile robot, this paper proposed a discrete iterative learning control approach based on PID with strong adaptability, fast convergence, and small error. This algorithm used discrete PID to filter rejection and restrained the influence of interference and noise on trajectory tracking, which made it more suitable for engineering application. The PID-type iterative learning convergence condition and certification procedure are presented. The results of simulation reveal that the PID-type ILC holds the features of simplicity, strong robustness, and high repeating precision and can well meet the control requirement of nonlinear discrete system.

求助全文

通过发布文献求助，成功后即可免费获取论文全文。去求助

来源期刊

Journal of Control Science and Engineering AUTOMATION & CONTROL SYSTEMS-

CiteScore

4.70

自引率

0.00%

发文量

审稿时长

19 weeks

期刊介绍： Journal of Control Science and Engineering is a peer-reviewed, open access journal that publishes original research articles as well as review articles in all areas of control science and engineering.