平面机器人的视觉伺服H_∞跟踪误差补偿控制

H_∞ tracking error compensation control for visual servoing of plannar robots

对于具有固定摄像机形式的平面机器人视觉伺服,考虑摄像机的径向透镜失真对图像的影响,引入一个L2函数向量来描述这种影响,采用鲁棒控制技术,提出了H∞跟踪误差控制补偿器,使得跟踪误差收敛并取得H∞跟踪性能;结合机器人的动力学特性,利用李亚普诺夫稳定性的分析方法设计了机器人关节控制力矩,整个系统全局渐近稳定。仿真结果表明了该方法的有效性。

This paper presents a globally convergent vision-based control scheme for dynamic planar robot in the fixed camera configuration, where the influence of radial lens distortion on images is replaced by an L2-function vector. An H∞ tracking error compensation controller is proposed to drive the tracking error convergence. As a result, the closed-loop system is stable and robust against the radial lens distortion and obtains the H∞ tracking performance as well. The control input torqe vector of joints is designed based on the Lyapunov direct method. Simulations show the effectivness of the method.