Iterative Learning Control Method with Safety Velocity of Mobile Robot Under Uncertain Motion Environment

To improve the tracking accuracy and safety of mobile robot, a safety velocity iterative learning control method is proposed. The dynamic model of the mobile robot is established by considering the mass of the goods handled and the eccentricity of the goods placed. The saturation function is used to constrain the specified velocity of the robot, and the tracking error system is constructed. Furthermore, the stability of the tracking error system is analyzed based on Lyapunov theory. The simulation results show that the proposed control method restrains the influence of the uncertain environment on the robot movement, improves the robustness of the trajectory tracking and guarantees the safety of the motion velocity.