摄像机模型下非完整移动机器人的自适应镇定

Adaptive Stabilization of Nonholonomic Mobile Robots on Camera Model

基于摄像机视觉反馈的方法,针对摄像机视觉参数未知及移动机器人质心和几何中心不重合且质心几何中心距离未知情况下,提出了一种不连续反馈控制律,并利用自适应技术对其进行修正,在证明时创新性地加了一个状态作为补充,最终证明了提出的控制律能使该视觉反馈系统下移动机器人的各状态由任意的初始状态指数收敛到原点,并利用MATLAB仿真验证了所设计控制器的有效性。

In this paper, a camera-based visual feedback method, for nonholonomic mobile robots with unc- alihrated CCD camera parameters is addressed based on the mass center and geometric center of the mobi1e robots and the distance between them is unknown. A stabilizing-feedback controller and an adaptive law are put forward . In the proof, a new state is added to as a supplement to show that, the proposed control law can make the visual feedback system exponentially stable. The MATLAB simulation results show that the control law is effective.