Distributed formation control for multiple non-holonomic wheeled mobile robots with velocity constraint by using improved data-driven iterative learning

作者：

Highlights：

• The formation problem of mobile robot with unknown dynamic model is investigated.

• Proportional integral type data-driven iterative learning formation control algorithm is proposed.

• The effect of speed constraint on the convergence for formation and driving force updating algorithm is studied.

• Dynamic control algorithm is designed merely utilizing the I/O of model.

摘要

•The formation problem of mobile robot with unknown dynamic model is investigated.•Proportional integral type data-driven iterative learning formation control algorithm is proposed.•The effect of speed constraint on the convergence for formation and driving force updating algorithm is studied.•Dynamic control algorithm is designed merely utilizing the I/O of model.

论文关键词：Formation control,Nonholonomic wheeled mobile robots,Data-driven control,Iterative learning control,Velocity constraint,Graph theory

论文评审过程：Received 12 July 2020, Revised 8 October 2020, Accepted 16 November 2020, Available online 16 December 2020, Version of Record 16 December 2020.

论文官网地址：https://doi.org/10.1016/j.amc.2020.125829