基于视觉伺服的非完整移动机器人镇定控制  

Stabilization Control of Nonholonomic Mobile Robots Based on Visual Servoing

作　　者：王刚[1] 王朝立[2] 赵晓萌[2] 季云峰[2] 

机构地区：[1]上海理工大学管理学院,上海200093 [2]上海理工大学控制科学与工程系,上海200093

出　　处：《控制工程》2015年第6期1042-1046,共5页Control Engineering of China

基　　金：国家自然科学基金(61374040);上海市教委科技创新项目(13ZZ115);上海市研究生创新项目(54-13-302-102);沪江基金(C14002)

摘　　要：针对单目视觉伺服反馈的一类非完整移动机器人的镇定问题,在深度信息未知的情况下,首先给出一种新的基于视觉伺服反馈的模型表达形式,然后利用状态变换和输入变换转化为不确定非完整单链式系统。基于此链式系统,利用时变系统稳定性理论,提出了一种新的光滑时变且具有指数收敛速度的镇定控制器。且该控制器是全局稳定的,并对稳定性给出了严格的证明。最后,仿真结果验证了所提控制器的有效性。For the monocular visual servo＇s stabilization problem of a nonholonomic mobile robots, in the case of without convinced information, firstly a new robot model based on visual servoing is given, and then an uncertain nonholonomic single-chain form system can be transformed by using the status mapping and input transition. Based on this chain-form system, a new smooth time-varying controller with exponential convergence speed is proposed via the stability theory of time-varying system. Simultaneously the controller is globally stable, and its stability is proved rigorously. Finally, simulation results confirm the effectiveness of the proposed controller.

关 键 词：移动机器人 视觉伺服 镇定 非完整系统 

分 类 号：TP29[自动化与计算机技术—检测技术与自动化装置]