Abstract
In this paper, we studied the robust formation control issue of multiple non-holonomic wheel mobile robots (WMRs) with nonlinear characteristics and considered the channel noise and switching communication topology, a distributed iterative learning formation control (DILFC) scheme using information interaction between robots is proposed. Firstly, the formation tracking error with consensus information is constructed, and the relationship between formation error and channel noise is obtained from the nonlinear system model of mobile robot. Next, the controller is designed based on the prediction and the current learning term between robots, and the switching topology is introduced into the formation algorithm in the form of piecewise function. The sufficient condition and norm upper bound for the formation tracking stability of the system are obtained by theoretical analysis. The results show that although the channel noise accumulates in both the time domain and iteration domain, the validity of formation tracking can be guaranteed by adjusting the sampling time of the system. To illustrate the effectiveness of the proposed scheme, numerical simulation results of a group of WMRs are presented.
Highlights
In recent years, wheeled mobile robots (WMRs) has been widely used in the logistics industry, military reconnaissance, agricultural transportation and other practical projects [24], so the control of WMR has been rapidly developed, such as sliding mode control [27], backstepping control [7], adaptive control [15], feedback control [19] and observer-based control [1], etc.Due to the limited performance of a single WMR, it is difficult to complete a large project alone, so multiple WMRs cooperative control is more practical
We studied the robust formation prerpoebtlietmiveofmmotuioltnip((dldee))nvniorno-nhmoleonnto, maicdWistMribRusteidn formation strategy based on Iterative learning control (ILC) is proposed
We studied the robust formation problem of multiple non-holonomic WMRs in repetitive motion environment, a distributed formation strategy based on ILC is proposed
Summary
WMR has been widely used in the logistics industry, military reconnaissance, agricultural transportation and other practical projects [24], so the control of WMR has been rapidly developed, such as sliding mode control [27], backstepping control [7], adaptive control [15], feedback control [19] and observer-based control [1], etc. Iterative learning control (ILC) is an effective solution for single WMR tracking trajectory in repetitive environment [22], which can achieve the complete tracking in time domain. Liu and Jia [14] studied the formation problem for discrete-time multi-agent systems with unknown nonlinear dynamics, a distributed iterative learning method was proposed based on the local formation error data and the sufficient conditions for preserving formation was deduced. Li and Li [13] considered the consensus tracking problem for a class of nonlinear multi-agent systems, an adaptive ILC consensus algorithm was developed, where the convergence condition was given based on the Lyapunov stability theory. Based on the above analysis, this paper designs a distributed iterative learning formation control algorithm for formation problem of multiple WMRs, and explores the convergence problem of the system under the channel noise and switching topologies.
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