Data-driven iterative learning trajectory tracking control for wheeled mobile robot under constraint of velocity saturation  

作　　者：Xiaodong Bu Xisheng Dai Rui Hou 

机构地区：[1]The School of Automation,Guangxi University of Science and Technology,Liuzhou,China [2]The Department of Automation,College of Mechatronics Engineering and Automation,Shanghai University,Shanghai,China [3]The School of Electrical Engineering&Automation,Henan Polytechnic University,Jiaozuo,China

出　　处：《IET Cyber-Systems and Robotics》2023年第2期37-47,共11页智能系统与机器人（英文）

基　　金：supported by the Innovation Project of Guangxi Graduate Education(Grant No.YCSW2022436).

摘　　要：Considering the wheeled mobile robot(WMR)tracking problem with velocity saturation,we developed a data‐driven iterative learning double loop control method with constraints.First,the authors designed an outer loop controller to provide virtual velocity for the inner loop according to the position and pose tracking error of the WMR kinematic model.Second,the authors employed dynamic linearisation to transform the dynamic model into an online data‐driven model along the iterative domain.Based on the measured input and output data of the dynamic model,the authors identified the parameters of the inner loop controller.The authors considered the velocity saturation constraints;we adjusted the output velocity of the WMR online,providing effective solutions to the problem of velocity saltation and the saturation constraint in the tracking process.Notably,the inner loop controller only uses the output data and input of the dynamic model,which not only enables the reliable control of WMR trajectory tracking,but also avoids the influence of inaccurate model identification processes on the tracking performance.The authors analysed the algorithm's convergence in theory,and the results show that the tracking errors of position,angle and velocity can converge to zero in the iterative domain.Finally,the authors used a simulation to demonstrate the effectiveness of the algorithm.

关 键 词：data-driven control dynamic model iterative learning control trajectory tracking velocity saturation wheeled mobile robot 

分 类 号：TP242[自动化与计算机技术—检测技术与自动化装置]