基于视觉伺服反馈的不确定非完整动态移动机器人的自适应镇定

研究了带有固定在天花板上的摄像机系统的非完整动态移动机器人的镇定问题. 首先, 利用针孔摄像机模型引入了基于摄像机目标的视觉伺服运动学模型,并针对该运动学模型给出了一个运动学镇定控制器. 然后,在摄像机参数不确定的情形下设计了一个自适应滑模控制器实现了不确定动态移动机器人的镇定. 提出的控制器不仅对结构不确定性如质量变化, 而且对无结构不确定性如外部扰动都具有鲁棒性. 通过Lyapunov方法严格证明了提出的控制系统的稳定性和估计参数的有界性. 仿真结果证实了控制律的有效性.

Adaptive Stabilization for Uncertain Nonholonomic Dynamic Mobile Robots Based on Visual Servoing Feedback

The stabilization problem of nonholonomic dynamic mobile robots with a fixed (ceiling-mounted) camera is addressed in this paper. First, a camera-object visual servoing kinematic model is introduced by utilizing the pin-hole camera model and a kinematic stabilizing controller is given for the kinematic model. Then, an adaptive sliding mode controller is designed to stabilize uncertain dynamic mobile robot in the presence of parametric uncertainties associated with the camera system. The proposed controller is robust not only to structured uncertainty such as mass variation but also to unstructured one such as disturbances. The stability of the proposed control system and the boundedness of estimated parameters are rigorously proved by Lyapunov method. Simulation results are presented to illustrate the performance of the control law.