Computer Engineering and Applications ›› 2020, Vol. 56 ›› Issue (20): 226-231.DOI: 10.3778/j.issn.1002-8331.1908-0026

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Leader-Follower Iterative Learning Formation Control for Robots with Arbitrary Initial Position

HOU Rui, BU Xuhui   

  1. School of Electrical Engineering and Automation, Henan Polytechnic University, Jiaozuo, Henan 454000, China
  • Online:2020-10-15 Published:2020-10-13



  1. 河南理工大学 电气工程与自动化学院,河南 焦作 454000


In order to solve the formation and maintenance of mobile robots, an iterative learning formation control algorithm for arbitrary initial position is proposed. Using the leader-following formation, the follower’s reference track is derived by using only the leader’s trajectory and the desired formation, and the Iterative Learning Control(ILC) is introduced to design the follower’s control law. It enables the follower to adjust its own line speed and angular velocity with each iteration, and works with the leader in the desired formation. It introduces the learning of the initial position, that is, the formation and the initial position learning simultaneously. The problem that the mobile robot of any initial position forms and maintains a desired formation formation is solved. The feasibility of the control algorithm is analyzed theoretically. The simulation results verify the effectiveness of the control algorithm.

Key words: formation control, multi-mobile robots, iterative learning control, leader-follower, arbitrary initial position


针对移动机器人编队形成与队形保持问题,提出了一种适用于任意初始位置条件下的迭代学习编队控制算法。采用领航-跟随型编队法,仅利用领航者的运动轨迹和期望的编队队形推导出跟随者的参考航迹,引入迭代学习控制(Iterative Learning Control,ILC)方法,设计跟随者的控制律,使跟随者随着每次迭代调节自身的线速度和角速度,与领航者一起以期望编队队形工作;引入对初始位置的学习,即同时进行编队队形的学习和编队初始位置的学习。解决了任意初始位置的多移动机器人形成并保持期望编队队形的问题。并在理论上分析了控制算法的可行性,仿真结果验证了控制算法的有效性。

关键词: 编队控制, 多移动机器人, 迭代学习控制, 领航-跟随型, 任意初始位置