摘要
基于视觉反馈和标准链式形式,研究了一类不确定非完整移动机器人的轨迹跟踪控制问题.首先,利用针孔摄像机模型,提出了一种新的基于视觉伺服的移动机器人运动学跟踪误差模型.基于这个模型,在具有不确定视觉参数的情形下,利用back-stepping技术,设计出了一种新的自适应动态反馈跟踪控制器,实现了全局渐近的轨迹跟踪,并通过李亚普诺夫方法严格证明了闭环系统的稳定性和估计参数的有界性.仿真结果证明了所提出的控制器的有效性.
Based on visual feedback and standard chained form, the trajectory tracking control problem of a class of uncertain nonholonornic mobile robots is studied. By using a pin-hole camera model, a novel kinematic tracking error model based on visual servo is introduced for nonholonomic mobile robots. Based on this model, a new tracking controller based on adaptive dynamic feedback is designed combining the back-stepping technique under the condition of uncertain vision parameters. The controller realizes the global asymptotic tracking of the trajectories. The stability of the closed-loop system and the boundedness of the estimated parameters are strictly proved by the Lyapunov method. Simulation results verify the efficiency of the controller.
出处
《信息与控制》
CSCD
北大核心
2012年第1期57-62,68,共7页
Information and Control
基金
国家自然科学基金资助项目(60874002)
上海市教委重点资助项目(09ZZ158)
上海市重点学科资助项目(S30501)
浙江省教育厅资助项目(Y201016188)
