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A kinematics model and dynamic model of a two\u2010wheeled self\u2010balancing mobile robot are deduced in this paper, and the combination of an open\u2010closed\u2010loop PD\u2010ILC law and a variable forgetting factor is presented. The open\u2010closed\u2010loop PD\u2010ILC algorithm adopts current and past learning items to drive the state variables and input variables, and the output variables converge to the bounded scope of their desired values. In addition, introducing a variable forgetting factor can enhance the robustness and stability of ILC. Numerous simulation and experimental data demonstrate that the proposed control scheme has better feasibility and effectiveness than the traditional control algorithm.<\/jats:p>","DOI":"10.1155\/2019\/5705126","type":"journal-article","created":{"date-parts":[[2019,8,8]],"date-time":"2019-08-08T23:30:57Z","timestamp":1565307057000},"update-policy":"https:\/\/doi.org\/10.1002\/crossmark_policy","source":"Crossref","is-referenced-by-count":9,"title":["Open\u2010Closed\u2010Loop PD Iterative Learning Control with a Variable Forgetting Factor for a Two\u2010Wheeled Self\u2010Balancing Mobile Robot"],"prefix":"10.1155","volume":"2019","author":[{"ORCID":"https:\/\/orcid.org\/0000-0002-4067-2704","authenticated-orcid":false,"given":"Jian","family":"Dong","sequence":"first","affiliation":[]},{"ORCID":"https:\/\/orcid.org\/0000-0003-3193-6269","authenticated-orcid":false,"given":"Bin","family":"He","sequence":"additional","affiliation":[]},{"given":"Chenghong","family":"Zhang","sequence":"additional","affiliation":[]},{"given":"Gang","family":"Li","sequence":"additional","affiliation":[]}],"member":"311","published-online":{"date-parts":[[2019,8,8]]},"reference":[{"key":"e_1_2_12_1_2","doi-asserted-by":"publisher","DOI":"10.20965\/ijat.2014.p0216"},{"key":"e_1_2_12_2_2","doi-asserted-by":"publisher","DOI":"10.1155\/2012\/469491"},{"key":"e_1_2_12_3_2","doi-asserted-by":"publisher","DOI":"10.1166\/asl.2012.2590"},{"key":"e_1_2_12_4_2","doi-asserted-by":"publisher","DOI":"10.1109\/41.982254"},{"key":"e_1_2_12_5_2","unstructured":"SamerM. 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