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The velocity tracking problem of wheeled mobile robots (WMRs) which work with repeatable trajectories and different initial errors is discussed in the paper. Three mathematical models of WMR, namely, kinematic model, dynamic model and DC motor driven model, are deduced and the stratagem of fuzzy neural network based adaptive iterative learning control (FNN-AILC), which includes the components of fuzzy...
In this paper, a fuzzy adaptive iterative learning control (FAILC) strategy is proposed to resolve the trajectory tracking problem of wheeled mobile robots (WMR) based on the dynamic model of WMR and its actuator. In the previous study of WMR trajectory tracking, ILC was usually applied to the WMR kinematical model with the assumption that desired velocity can be tracked immediately. However, this...
In this paper, an iterative learning control (ILC) strategy is proposed to resolve the trajectory tracking problem of wheeled mobile robots (WMR) based on dynamic model. In the previous study of WMR trajectory tracking, ILC was usually applied to the WMR kinematical model with the assumption that desired velocity can be tracked immediately. However, this assumption can not be realized in the real...
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