中文摘要：

为提高移动机器人对特定轨迹的重复跟踪能力，提出了采用开闭环PD型迭代学习控制算法对移动机器人进行轨迹跟踪控制的方法。建立了包含外界干扰的非完整约束条件下的轮式移动机器人运动学模型，给出了系统的控制算法和控制结构。仿真结果表明，采用开闭环PD型迭代学习控制算法对轨迹跟踪是可行有效的，收敛速度优于其他迭代学习算法。

英文摘要：

To improve the repetitive tracking capability of mobile robot for the specific trajectory, the open-closed-loop PD-type itera- tive learning control algorithm is presented to track its trajectory. The kinematic model of wheeled mobile robot is established under the interference conditions with nonholonomic constraints. The control system algorithm and structure are presented. Simulation results show that the use of open-closed-loop PD-type iterative learning control algorithm for trajectory tracking is feasible, effective, and the convergence rate is superior to other iterative learning algorithm.