信息与控制2012，Vol.41Issue(1)：57-62,68,7.DOI:10.3724/SP.J.1219.2012.00057
具有未知视觉参数的非完整移动机器人的自适应动态反馈跟踪控制
Tracking Control Based on Adaptive Dynamic Feedback for Nonholonomic Mobile Robots with Unknown Camera Parameters
摘要
Abstract
Based on visual feedback and standard chained form, the trajectory tracking control problem of a class of uncertain nonholonomic mobile robots is studied. By using a pin-hole camera model, a novel kinematic tracking error model based on visual servo is introduced for nonholonomic mobile robots. Based on this model, a new tracking controller based on adaptive dynamic feedback is designed combining the back-stepping technique under the condition of uncertain vision parameters. The controller realizes the global asymptotic tracking of the trajectories. The stability of the closed-loop system and the boundedness of the estimated parameters are strictly proved by the Lyapunov method. Simulation results verify the efficiency of the controller.关键词
非完整移动机器人/运动学/跟踪/视觉伺服Key words
nonholonomic mobile robot/ kinematics/ tracking/ visual servo分类
信息技术与安全科学引用本文复制引用
杨芳,王朝立..具有未知视觉参数的非完整移动机器人的自适应动态反馈跟踪控制[J].信息与控制,2012,41(1):57-62,68,7.基金项目
国家自然科学基金资助项目(60874002) （60874002）
上海市教委重点资助项目(09ZZ158) （09ZZ158）
上海市重点学科资助项目(S30501) （S30501）
浙江省教育厅资助项目(Y201016188). （Y201016188）
