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Journal of Control Science and Engineering
Volume 2016, Article ID 2320746, 7 pages
Research Article

Discrete PID-Type Iterative Learning Control for Mobile Robot

Department of Electrical Engineering, Yanshan University, Qinhuangdao 066004, China

Received 10 March 2016; Revised 16 June 2016; Accepted 17 July 2016

Academic Editor: Petko Petkov

Copyright © 2016 Hongbin Wang et al. This is an open access article distributed under the Creative Commons Attribution License, which permits unrestricted use, distribution, and reproduction in any medium, provided the original work is properly cited.


Through studying tracking problems of the wheeled mobile robot, this paper proposed a discrete iterative learning control approach based on PID with strong adaptability, fast convergence, and small error. This algorithm used discrete PID to filter rejection and restrained the influence of interference and noise on trajectory tracking, which made it more suitable for engineering application. The PID-type iterative learning convergence condition and certification procedure are presented. The results of simulation reveal that the PID-type ILC holds the features of simplicity, strong robustness, and high repeating precision and can well meet the control requirement of nonlinear discrete system.