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

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

Abstract 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 t...

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Bibliographic Details
Main Authors: Xiaodong Bu, Xisheng Dai, Rui Hou
Format: Article
Language:English
Published: Wiley 2023-06-01
Series:IET Cyber-systems and Robotics
Subjects:
data‐driven control
dynamic model
iterative learning control
trajectory tracking
velocity saturation
wheeled mobile robot
Online Access:https://doi.org/10.1049/csy2.12091

Internet

https://doi.org/10.1049/csy2.12091

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