含未校准摄像机参数的非完整移动机器人自适应动态反馈跟踪控制  

Adaptive dynamic feedback tracking control for nonholonomic mobile robots with uncalibrated camera parameters

作　　者：梁振英 王稀 金增珂 LIANG Zhen-ying;WANG Xi;JIN Zeng-ke(School of Mathematics and Statistics.Shandong University of Technology,Zibo 255000,China)

机构地区：[1]山东理工大学数学与统计学院,山东淄博255000

出　　处：《控制与决策》2022年第1期247-256,共10页Control and Decision

基　　金：国家自然科学基金项目(61473179,61903234);山东省自然科学基金项目(ZR2017LF011,ZR2019MF008)。

摘　　要：研究基于视觉伺服的不确定非完整移动机器人的跟踪控制问题.基于视觉反馈和状态输入变换,提出一类非完整运动学系统的不确定模型,并运用两个新的变换,对3种不同情况分别设计自适应动态反馈控制器来跟踪不确定系统的期望轨迹.利用李雅普诺夫方法和推广的Barbalat引理,严格证明了误差系统的收敛性.仿真结果验证了所提方法的有效性.The problem of uncertain nonholonomic mobile robot tracking control based on visual servo is studied. Based on visual feedback and state input transformation, an uncertain model for a class of nonholonomic kinematic systems is proposed. In three different cases, adaptive dynamic feedback controllers are designed to track the desired trajectory of the uncertain system by two new transformations. Adaptive dynamic feedback controllers are designed to track the desire trajectory of the uncertain system for two cases. The convergence of the erroe system is proved rigorously using the extended barbalat theorem and the Lyapunov method. Simulation results demonstrate the effectiveness of the proposed method.

关 键 词：移动机器人 非完整系统 自适应 链式结构 动态反馈 跟踪控制 

分 类 号：TP273[自动化与计算机技术—检测技术与自动化装置]