荷载不确定移动机器人视觉伺服系统鲁棒预测控制

考虑具有可见性约束和执行器约束的载荷不确定移动机器人视觉伺服系统,提出一种鲁棒视觉伺服预测控制策略.首先将该移动机器人视觉伺服系统建模为关于视觉伺服误差和驱动的不确定系统.其次,对约束的视觉伺服误差子系统,设计基于半正定规划的速度规划预测控制算法.该算法分为离线计算和在线调度两个部分,降低预测控制算法的在线计算量.而对...

Robust predictive control of visual servoing systems of mobile robots with load uncertainty

The paper presents a robust visual servo predictive control scheme for visual servoing systems of mobilerobots subject to visibility and actuator constraints and load uncertainty. Firstly, the visual servoing system of mobile robotsis modelled as an uncertain system on visual servoing errors and driving. Secondly, the speed programming predictivecontrol algorithm based on semi-definite programming is designed for the constrained visual servoing error subsystem. Thisalgorithm is divided into two parts: offline computing and online scheduling, which reduces the online computational burdenof the predictive control algorithm. The quasi-min-max robust predictive control algorithm is designed for the constrainedvisual servoing driving subsystem. The asymptotic tracking of the planning speed of the visual servo error subsystem isthen realized. Moreover, the robust asymptotic stability result on the visual servoing errors and driving system of mobilerobots with load uncertainty is established. Finally, some simulation results verify the effectiveness and superiority of theproposed strategy