TY - GEN
T1 - Repetitive Trajectory Tracking of Autonomous Mobile Robots via SMC with Iterative Learning
AU - Zhao, Huaqing
AU - Wang, Zhenhuan
AU - Shao, Shibo
AU - Shen, Xiaoning
AU - Chen, Weiliang
AU - Gao, Yabin
N1 - Publisher Copyright:
© 2023 IEEE.
PY - 2023
Y1 - 2023
N2 - Aiming at the increasingly strict trajectory tracking accuracy requirements and the characteristics of repetitive tasks of autonomous mobile robots (AMR), this paper proposes a robust control strategy that combines iterative learning control (ILC) and adaptive sliding model control (ASMC) in parallel to handle unknown disturbances and model uncertainties. Specifically, ASMC is employed as the main controller to deal with the lumped disturbances/uncertainties, which ensures the stability and strong robustness of the system. A PD-type iterative learning controller is used as the auxiliary controller to further improve tracking performance in repetitive motion tasks. The experimental results show that the ASMC-ILC controller outperforms both the iterative learning control and sliding mode control algorithms in terms of control performance.
AB - Aiming at the increasingly strict trajectory tracking accuracy requirements and the characteristics of repetitive tasks of autonomous mobile robots (AMR), this paper proposes a robust control strategy that combines iterative learning control (ILC) and adaptive sliding model control (ASMC) in parallel to handle unknown disturbances and model uncertainties. Specifically, ASMC is employed as the main controller to deal with the lumped disturbances/uncertainties, which ensures the stability and strong robustness of the system. A PD-type iterative learning controller is used as the auxiliary controller to further improve tracking performance in repetitive motion tasks. The experimental results show that the ASMC-ILC controller outperforms both the iterative learning control and sliding mode control algorithms in terms of control performance.
KW - Adaptive sliding model control
KW - autonomous mobile robots
KW - iterative learning control
KW - trajectory tracking
UR - https://www.scopus.com/pages/publications/85180131141
U2 - 10.1109/ICUS58632.2023.10318321
DO - 10.1109/ICUS58632.2023.10318321
M3 - 会议稿件
AN - SCOPUS:85180131141
T3 - Proceedings of 2023 IEEE International Conference on Unmanned Systems, ICUS 2023
SP - 1458
EP - 1463
BT - Proceedings of 2023 IEEE International Conference on Unmanned Systems, ICUS 2023
A2 - Song, Rong
PB - Institute of Electrical and Electronics Engineers Inc.
T2 - 2023 IEEE International Conference on Unmanned Systems, ICUS 2023
Y2 - 13 October 2023 through 15 October 2023
ER -