| Autor: |
Kanghua Yan, Jiahao Geng, Rui Hou, Dongya You, Xuhui Bu |
| Rok vydání: |
2021 |
| Předmět: |
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| Zdroj: |
2021 IEEE 10th Data Driven Control and Learning Systems Conference (DDCLS). |
| DOI: |
10.1109/ddcls52934.2021.9455686 |
| Popis: |
This paper presents a double closed-loop iterative learning control (ILC) strategy for the formation problem of wheeled mobile robots (WMRs). A formation algorithm based on distributed iterative learning is designed by introducing the leader-follower formation mode and the directed graph into the outer loop algorithm. Considering that the traditional robot control algorithm relies on the precise vehicle dynamics model, a velocity tracking algorithm based on data is proposed. The dynamic linearization method is used to transform dynamics into the data model based on the system input and output. In the inner loop algorithm, a finite-time velocity tracking algorithm for iterative domain updates is analyzed and designed according to the data model. The theoretical analysis of the convergence for position error and velocity tracking error is given, and the effectiveness of the double-closed loop formation strategy is verified by simulation. |
| Databáze: |
OpenAIRE |
| Externí odkaz: |
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