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The International Journal of Robotics Research
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An Iterative Learning Controller for Nonholonomic Mobile Robots

Giuseppe Oriolo

Dipartimento di Informatica e Sistemistica Università di Roma, La Sapienza, Italy

Stefano Panzieri

Dipartimento di Informatica e Automazione Terza Università di Roma, Italy

Giovanni Ulivi

Dipartimento di Informatica e Automazione Terza Università di Roma, Italy

We present an iterative learning controller that applies to nonholo nomic mobile robots, as well as other systems that can be put in chained form. The learning algorithm exploits the fact that chained- form systems are linear under piecewise-constant inputs. The pro posed control scheme requires the execution of a small number of experiments to drive the system to the desired state in finite time, with nice convergence and robustness properties with respect to model ing inaccuracies as well as disturbances. To avoid the necessity of exactly reinitializing the system at each iteration, the basic method is modified so as to obtain a cyclic controller, by which the system is cyclically steered through an arbitrary sequence of states. As a case study, a carlike mobile robot is considered. Both simulation and experimental results are reported to show the performance of the method.

The International Journal of Robotics Research, Vol. 17, No. 9, 954-970 (1998)
DOI: 10.1177/027836499801700904
Add to CiteULike CiteULike   Add to Complore Complore   Add to Connotea Connotea   Add to Del.icio.us Del.icio.us   Add to Digg Digg   Add to Reddit Reddit   Add to Technorati Technorati   Add to Twitter Twitter    What's this?