Open-Closed-Loop PD Iterative Learning Control with a Variable Forgetting Factor for a Two-Wheeled Self-Balancing Mobile Robot
A novel iterative learning control (ILC) algorithm for a two-wheeled self-balancing mobile robot with time-varying, nonlinear, and strong-coupling dynamics properties is presented to resolve the trajectory tracking problem in this research. A kinematics model and dynamic model of a two-wheeled self-...
| Main Authors: | , , , |
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| Format: | Article |
| Language: | English |
| Published: |
Hindawi-Wiley
2019-01-01
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| Series: | Complexity |
| Online Access: | http://dx.doi.org/10.1155/2019/5705126 |