Through the research of mobile robot trajectory tracking control problem

this paper proposes fuzzy PID-P type open-closed loop nonlinear discrete iterative learning control(ILC) method based on the kinematic model of mobile robot.The PID-P type iterative learning convergence condition and certification procedure are presented.The fuzzy control principle is used to set PID parameters of three learning gain matrixes.This control method improves the ability of tracking repeatly specific trajectory for mobile robot

and has the characteristics of simple algorithm.Simulation results show that the use of fuzzy open-closed-loop PID-P type iterative learning control algorithm for trajectory tracking is feasible and effective.