Abstract:In order to control robot to track the desired trajectory or make it reach the specified target position and pose, a trajectory tracking control model based on the optimized iterative learning algorithm was designed. The interactive application control modules, such as the fourwheel drive WMR mechanical framework and the master control sensor, were combined to process the trajectory signal of the robot and a key dynamic model was established in accordance with the optimization principle of extreme convergence of iterative learning algorithm, so as to realize realtime tracking and control of the trajectory of the robot. Simulation experiments were designed to verify the effectiveness of the optimal iterative learning algorithm for the control of the robot’ s trajectory.