摘要：This paper builds and analyzes kinematics model for a kind of wheeled robot.The application of D-type iterative learning control in trajectory tracking of wheeled robot is studied.A iterative learning control algorithm and its convergent condition are given.This has advantages of simplicity and depending little on the model.The results of simulation show that the presented iterative learning control can solve the problems of trajectory tracking for nonholonomic system successfully.The algorithm has good robustness to measuring parameter errors.Good tracking performance has been obtained.
