Model-free Trajectory Tracking Control for Nonlinear Mobile Robots

This paper addresses the model-free motion tracking control problem for nonlinear mobile robots based on a data-driven approach. A compact-form dynamic linearization method is proposed to set up a data mapping for the robot, which is then extended to multi-robot systems. This algorithm eliminates the need for robot dynamics information, relying solely on data collected from the system to analyze and formulate the controller. Stability of the algorithm is proven using a compression mapping criterion, and simulated results validate the feasibility of the proposed approach.