| 基于数据驱动高阶学习律的轮式移动机器人轨迹跟踪控制 |
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| 引用本文： | 李佳伟,林娜,池荣虎.基于数据驱动高阶学习律的轮式移动机器人轨迹跟踪控制[J].南京信息工程大学学报,2021,13(1):66-72. |
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| 作者姓名： | 李佳伟 林娜 池荣虎 |
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| 作者单位： | 青岛科技大学 自动化与电子工程学院,青岛,266061 |
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| 基金项目： | 国家自然科学基金（61873139）；山东省泰山学者青年专家人才工程；山东省自然科学基金（ZR2019MF036） |
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| 摘 要： | 轮式机器人执行巡逻、播种和工业生产等任务是一个强非线性的间歇过程.针对重复运行的轮式机器人轨迹跟踪问题,本文提出了一种基于数据驱动的高阶迭代学习控制算法.首先,对轮式移动机器人的模型进行推导设计,并对推导得到的状态空间形式的离散时间模型利用基于状态转移的迭代动态线性化方法,将轮式机器人系统转化为线性输入输出数据模型;其...
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| 关 键 词： | 数据驱动 高阶学习律 迭代学习 轮式机器人 |
| 收稿时间： | 2020/8/31 0:00:00 |
Data-driven high-order learning control for path tracking of wheeled mobile robots |
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| LI Jiawei,LIN Na and CHI Ronghu.Data-driven high-order learning control for path tracking of wheeled mobile robots[J].Journal of Nanjing University of Information Science & Technology,2021,13(1):66-72. |
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| Authors: | LI Jiawei LIN Na and CHI Ronghu |
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| Affiliation: | School of Automation & Electronics Engineering, Qingdao University of Science & Technology, Qingdao 266061,School of Automation & Electronics Engineering, Qingdao University of Science & Technology, Qingdao 266061 and School of Automation & Electronics Engineering, Qingdao University of Science & Technology, Qingdao 266061 |
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| Abstract: | The task of patrolling,seed sowing and industrial production of wheeled robots is a strongly nonlinear intermittent process.In this paper,a data-driven high-order iterative learning control algorithm is proposed for the path tracking of wheeled mobile robots in repeated running scenes.First,the model of wheeled mobile robot is derived and designed,and the discrete-time model in state space is transformed into linear input/output data model by using iterative dynamic linearization method based on state transition.Second,a high-order iterative optimization objective function is designed to obtain the control law,and the parameter update law is used to estimate the unknown parameters in the linear data model.By using high order learning control method,more control input information of previous iteration is used in the control law to improve the control performance.Finally,the simulation results verify the effectiveness of this method in the trajectory tracking control of wheeled robot. |
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| Keywords: | data-driven high-order learning law iterative learning wheeled mobile robot (WMR) |
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