引用本文:梁振英,徐玉镜,董莉莉,等.含未标定摄像机参数的非完整移动机器人的自适应动力学跟踪控制[J].控制与决策,2019,34(10):2164-2170
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含未标定摄像机参数的非完整移动机器人的自适应动力学跟踪控制
梁振英1, 徐玉镜1, 董莉莉1, 李彩虹2
(1. 山东理工大学数学与统计学院,山东淄博255000;2. 山东理工大学计算机科学与技术学院,山东淄博255000)
摘要:
结合一类非完整移动机器人的运动学模型和链式转换,在质心与几何中心重合的情况下,研究含有未知参量的非完整移动机器人的跟踪控制问题.首先,利用针孔摄像机模型提出一种基于视觉伺服的运动学跟踪误差模型;然后在此模型下,将动态反馈、Back-stepping技巧与自适应控制相结合,设计一个区别于以往处理方法、含有两个动态反馈的自适应跟踪控制器,从而实现动力学系统的全局渐近轨迹跟踪,并通过李亚普诺夫方法严格证明闭环系统的稳定性和估计参数的有界性;最后,利用Matlab仿真验证所提出的控制器的有效性.
关键词:  非完整系统  轮式移动机器人  视觉伺服  反步法  自适应控制
DOI:10.13195/j.kzyjc.2018.0191
分类号:TP273
基金项目:山东省自然科学基金项目(ZR2017LF011).
Adaptive dynamics tracking control for nonholonomic mobile robots with uncalibrated camera parameters
LIANG Zhen-ying1,XU Yu-jing1,DONG Li-li1,LI Cai-hong2
(1. School of Mathematics and Statistics,Shandong University of Technology,Zibo255000,China;2. College of Computer Science and Technology,Shandong University of Technology,Zibo255000,China)
Abstract:
The trajectory tracking control problem of nonholonomic mobile robots with a fixed camera is investigated based on a kind of nonholonomic robot kinematics model and chained transformations, when the center of mass and geometric center coincide. Firstly, a robot-camera visual servoing kinematic tracking error model is proposed by utilizing the pin-hole camera model. Then, based on this model, an adaptive torque tracking controller involving a kind of dynamic feedback parameters is designed by using the Lyapunov direct method and backstepping technique, which is different from the previous treatment method. The controller realizes the global asymptotic trajectories tracking of the dynamic system. The stability of the closed-loop system and the boundedness of the estimated parameters are strictly proved using the Lyapunov method. Finally, Matlab simulation is carried out to verify the effectiveness of the proposed controller.
Key words:  nonholonomic systems  wheeled mobile robot  visual servoing  backstepping  adaptive control

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