.png){kind=icon}
返回
An iterative learning controller for nonholonomic mobile robots
.png){kind=icon}
PRE
AI
DOI：10.1177/027836499801700904.png)
.png){kind=icon}
原文求助.png){kind=icon}
分享.png){kind=icon}
收藏
摘要
En 中文
We present an iterative learning controller that applies to nonholonomic 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 proposed control scheme requires the execution of a small number of experiments to drive the system to the desired state infinite time, with nice convergence and robustness properties with respect to modeling 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.
Keyword:
STABILIZATION
SYSTEMS
AI总结
对已上传原文的论文进行重点信息的提取，主要内容包括：简要概述、研究摘要、背景介绍、关键亮点、图文解析、展望与总结。
期刊
IF:
5
论文数:
2.4K
被引数:
1.5W
机构
暂无机构信息
引用论文
Disulfide bridges and blockage of Shaker B K+-channels by another butantoxin peptide purified from the Argentinean scorpion Tityus trivittatus.png)
Toxicon
ToxiconIF0
PREAI
分享收藏
Cloning and characterization of cDNAs that code for Na+ -channel-blocking toxins of the scorpion Centruroides noxius HoffmannGene
GeneIF0
PREAI
分享收藏分享收藏分享收藏
查看更多内容