Paper Info
Title
Distributed Iterative Learning Formation Control for Nonholonomic Multiple Wheeled Mobile Robots with Channel Noise
Abstract
In this paper, a distributed iterative learning formation control (DILFC) algorithm for the robust formation problem of multiple non-holonomic wheeled mobile robots (WMRs) in repetitive motion environment was proposed, and the convergence under channel noise and switching communication topology was analyzed. Firstly, the consensus tracking error is constructed. Next, the controller is designed based on the predicted and the current learning term between robots, and the switching topology is introduced into the formation algorithm in the form of piecewise function. By adoption of a graph dependent matrix norm to derive a simpler convergence condition. And the norm upper bound for the tracking stability of the system are obtained. The results show that although the channel noise accumulates in both the time domain and iteration domain, the validity of formation 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.
Year
DOI
Venue
2021
10.5755/j01.itc.50.3.25905
INFORMATION TECHNOLOGY AND CONTROL
Keywords
DocType
Volume
multiple wheeled mobile robots, formation tracking, iterative learning control, channel noise, switching topology
Journal
50
Issue
ISSN
Citations 
3
1392-124X
0
PageRank 
References 
Authors
0.34
18
5
Name
Order
Citations
PageRank
Xuhui Bu113211.55
Rui Hou200.68
Yanling Yin300.34
Wei Yu412519.50
Jiahao Geng5131.86