Iterative learning control for farm vehicle trajectory tracking

Duo to the periodicity of farm cropping, harvesting, seeding and spraying, the farm vehicle often operates the repetitive task. This paper considers the problem of iterative learning control for farm vehicle trajectory tracking. Two-wheel mobile robot kinematic model of farm vehicle is first established, and then the D-type iterative learning control law is designed. The convergence of the proposed iterative learning control law for farm vehicle is analyzed. It is shown that perfect tracking performance of farm vehicle can be obtained after some iteration. Two examples are also given to illustrate the effectiveness of the proposed approach.