基于视觉伺服服非非完整移动机器人的有限时间饱和镇定  

Finite-time saturated stabilization of nonholonomic mobile robots based on visual servoing

作　　者：陈华[1,2] 王朝立[1] 杨芳[1] 许维东[1] 

机构地区：[1]上海理工大学控制科学与工程系,上海200093 [2]河海大学数理部,江苏常州213022

出　　处：《控制理论与应用》2012年第6期817-823,共7页Control Theory & Applications

基　　金：国家自然科学基金资助项目(60874002);上海市重点学科资助项目(S30501);河海大学中央高校基本科研业务费资助项目(2010B23514);浙江省教育厅资助项目(Y201016188)

摘　　要：对视觉伺服反馈的一类非完整移动机器人,提出在视觉参数不确定下的有限时间饱和镇定问题.运用多步控制策略和有限时间稳定性理论,设计分段连续的饱和控制律使得闭环系统的状态在有限时间内收敛到平衡点.仿真结果验证了该方法的有效性.The saturated finite-time stabilization problem is considered in this paper for a class c,f nonholonomic mobile robots based on visual servoing with uncertain camera parameters. By applying the multi-step control strategy and the theory of finite-time stability, a piecewise continuous and saturated control law is presented, which can stabilize the closed- loop system to the origin equilibrium point in a finite time. Finally, the simulation results show the effectiveness of the proposed control design approach.

关 键 词：视觉伺服 非完整移动机器人 有限时间镇定 输入饱和 

分 类 号：TP242[自动化与计算机技术—检测技术与自动化装置]