未知视觉参数下的移动机器人动力学鲁棒镇定  

Dynamic Robust Regulation of Mobile Robots with Unknown Camera Parameters

作　　者：王刚[1,2] 王朝立[2] 杜庆辉[1] 季云峰[2] 

机构地区：[1]上海理工大学管理学院,上海200093 [2]上海理工大学光电信息与计算机工程学院,上海200093

出　　处：《上海理工大学学报》2015年第4期368-373,共6页Journal of University of Shanghai For Science and Technology

基　　金：国家自然科学基金资助项目(61374040);上海市教委科技创新项目(13ZZ115);上海市研究生创新项目(5413302102);沪江基金资助项目(C14002)

摘　　要：针对具有未知参数的视觉伺服下带有非完整约束的一类移动机器人不确定扰动的动力学模型,提出新的反馈控制算法,实现了移动机器人的位姿镇定.首先,对于单目摄像机模型下的移动机器人运动学模型,将原始系统进行状态缩放变换,基于线性时变系统的稳定性理论,设计了非完整移动机器人运动的期望速度,实现了机器人的指数镇定;其次,对于带有不确定扰动的非完整移动机器人的动力学模型,利用计算力矩法设计力矩控制器,使得机器人的实际速度在有限时间内收敛至期望速度,并且通过了严格的数学证明.最后,仿真结果验证了所提控制器的有效性.For a class of dynamic models of nonholonomic mobile robots in the presence of uncertain disturbances under visual servo with unknown parameters,a novel feedback controller was proposed to stabilize the mobile robot.For the kinematic model of the robot with a monocular camera,a state scaling transformation was applied to its original system,and the stability theory for time-varying linear system was exploited to deduce a desired velocity to stabilize the mobile robot exponentially.The method of computed-torque was introduced for the dynamic model associated with uncertain disturbances to design a torque controller which can let the actual velocity track the desired one in finite time.The method was also proved rigorously in mathematical way.The simulation results confirm the effectiveness of the proposed methods.

关 键 词：非完整移动机器人 视觉伺服 镇定 动力学 

分 类 号：TP273[自动化与计算机技术—检测技术与自动化装置]