%Iterative?learning?control?for?mobile?robot?path-tracking
clear?all;
close?all;

ts=0.001;?????????????????????%Sample?time
for?k=1:1:2001
????xd（k）=cos（（k-1）*pi*ts）;
????yd（k）=sin（（k-1）*pi*ts）;
????thd（k）=ts*pi*（k-1）+pi/2;
end

for?k=1:1:2001
???u1（k）=0;u2（k）=0;
???e1（k）=0;e2（k）=0;
???e3（k）=0;
end
y0=[1;0;pi/2];
%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
M=500;
for?i=0:1:M????%?Start?Learning?Control?for?M?Times
i
pause（0.05）;

%%%%%%%%%%%%%%%%%%%%%%%%%%%%
for?k=1:1:2001
if?k==1
????q=y0;
end
xp（k）=q（1）;
yp（k）=q（2）;
th（k）=q（3）;
qd=[xd（k）;yd（k）;thd（k）];
ce1（k）=qd（1）-q（1）;???????%?Current?error?of?time?k
ce2（k）=qd（2）-q（2）;??????????????????
ce3（k）=qd（3）-q（3）;??????????????????
u=[u1（k）;u2（k）];
B=ts*[cos（q（3））?0
??????sin（q（3））?0?
??????????0?????1];
L1=0.10*[cos（q（3））?sin（q（3））?0;
????0?0?1];
L2=L1;

cond=norm（eye（2）-L1*B）;???%?Conditions:?cond?must?be?smaller?than?1.0

U=u+L1*[e1（k）;e2（k）;e3（k）]+L2*[ce1（k）;ce2（k）;ce3（k）];
u1（k）=U（1）;
u2（k）=U（2）;
u=[u1（k）;u2（k）];
q=q+B*u;

e1（k）=cos（k*ts*pi）-q（1）;???%?Error?of?previous?time?k+1
e2（k）=sin（k*ts*pi）-q（2）;
e3（k）=ts*k*pi+pi/2-q（3）;
end??????????????????%?End?of?k
figure（1）;
hold?on;
plot（xdyd‘r‘xpyp‘b‘）;
xlabel（‘xd?xp‘）;ylabel（‘ydyp‘）;

j=i+1;
times（j）=j-1;
e1i（j）=max（abs（ce1））;
e2i（j）=max（abs（ce2））;
e3i（j）=max（abs（ce3））;
end??????????%End?of?i
figure（2）;
plot（xdyd‘r‘xpyp‘b‘）;
xlabel（‘xd?xp‘）;ylabel（‘ydyp‘）;
figure（3）;
plot（timese1i‘*-r‘timese2i‘o-b‘timese3i‘o-k‘）;
title（‘Change?of?maximum?absolute?value?of?e1e2?and?angle?with?times?i‘）;
xlabel（‘times‘）;ylabel（‘e1e2?and?angle‘）;

?屬性????????????大小?????日期????時間???名稱
-----------?---------??----------?-----??----
?????文件????????1660??2007-08-08?11:44??mobile?robot?path-tracking.m