We present an iterative learning controller for nonholonomic systems in chained form. The learning algorithm relies on the fact that chained-form systems are linear under piecewise-constant inputs. The proposed control scheme requires the execution of a small number of experiments in order to drive the system to the desired state in finite time, with nice convergence and robustness properties with respect to modeling inaccuracies as well as disturbances. As a case study, a car-like wheeled mobile robot is considered. Both simulation and experimental results are reported in order to show the performance of the proposed method

Oriolo, G., Panzieri, S., Ulivi, G. (1996). Iterative learning controller for nonholonomic robots. In Robotics and Automation, 1996. Proceedings., 1996 IEEE International Conference on (pp.2676-2681). IEEE [10.1109/ROBOT.1996.506566].

Iterative learning controller for nonholonomic robots

PANZIERI, Stefano;Ulivi G.
1996-01-01

Abstract

We present an iterative learning controller for nonholonomic systems in chained form. The learning algorithm relies on the fact that chained-form systems are linear under piecewise-constant inputs. The proposed control scheme requires the execution of a small number of experiments in order to drive the system to the desired state in finite time, with nice convergence and robustness properties with respect to modeling inaccuracies as well as disturbances. As a case study, a car-like wheeled mobile robot is considered. Both simulation and experimental results are reported in order to show the performance of the proposed method
1996
0-7803-2988-0
Oriolo, G., Panzieri, S., Ulivi, G. (1996). Iterative learning controller for nonholonomic robots. In Robotics and Automation, 1996. Proceedings., 1996 IEEE International Conference on (pp.2676-2681). IEEE [10.1109/ROBOT.1996.506566].
File in questo prodotto:
Non ci sono file associati a questo prodotto.

I documenti in IRIS sono protetti da copyright e tutti i diritti sono riservati, salvo diversa indicazione.

Utilizza questo identificativo per citare o creare un link a questo documento: https://hdl.handle.net/11590/161087
Citazioni
  • ???jsp.display-item.citation.pmc??? ND
  • Scopus ND
  • ???jsp.display-item.citation.isi??? ND
social impact