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Quasi-min-max MPC for visual servoing stabilization of omnidirectional wheeled mobile robots |
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| Authors: | Yegui Lin Kexin Xing Defeng He Wen-An Zhang Weiqi Ni |
| Affiliation: | 1. College of Information Engineering, Zhejiang University of Technology, Hangzhou, China
Contribution: Conceptualization, Methodology, Software;2. College of Information Engineering, Zhejiang University of Technology, Hangzhou, China;3. College of Information Engineering, Zhejiang University of Technology, Hangzhou, China Contribution: Visualization |
| Abstract: | This paper proposes a new visual servoing quasi-min-max MPC algorithm for stabilization control of an omnidirectional wheeled mobile robot subject to physical and visual constraints. The visual servoing dynamics of the robot are modeled as the state-dependent linear error system with nonlinear control inputs of rotation and deflection velocities of wheels. The state-dependent linear error system is covered as linear parameters-varying models which is used to design the visual servoing quasi-min-max MPC controller. The actual control inputs of the robot are then computed by the solution of an inverse algebraic equation of the MPC actions. The recursive feasibility and stability of the new visual servoing MPC are ensured by some LMIs conditions. The performance and practicability of the visual servoing MPC are verified by some simulation and experiment results. |
| Keywords: | model predictive control omnidirectional wheeled mobile robot stabilization vision servoing |