The discrete dynamic kinematics models of two-wheeled mobile robot was constructed and iterative learning control strategy was applied into this repeat motion plant, iterative learning controller for mobile robot was designed and the trajectory tracking algorithm was programmed, also the iterative learning control laws was designed and the ultimate simulation study manifest that learning operator can influence it’s iterative learning quality and if the control system unsatisfied with convergence condition, the system will unstable and position tracking divergent, otherwise, the robust control realized.
