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A tracking control method for mobile robot visual servoing with guaranteed performance

A technology of mobile robot and visual servo, applied in non-electric variable control, control/regulation system, two-dimensional position/channel control, etc. The effect of servo guaranteed performance tracking control problem and easy solution to optimization problem

Active Publication Date: 2021-04-06
ZHEJIANG UNIV OF TECH
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  • Application Information

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Problems solved by technology

[0005] In order to overcome the inadequacy of the prior art that cannot solve the problem of guaranteed performance tracking control of mobile robot visual servoing, the present invention provides a method of visual servoing guaranteed performance tracking control of mobile robots. By modeling this problem as a type of tracking error with uncertain parameters Based on the model, the guaranteed performance index is given, and the solution method of the guaranteed performance feedback controller is also provided

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  • A tracking control method for mobile robot visual servoing with guaranteed performance
  • A tracking control method for mobile robot visual servoing with guaranteed performance
  • A tracking control method for mobile robot visual servoing with guaranteed performance

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Embodiment Construction

[0058] The present invention will be further described below in conjunction with the accompanying drawings.

[0059] refer to figure 1 , a mobile robot vision servo tracking control method with guaranteed performance, comprising the following steps:

[0060] 1) Establish a vision-based mobile robot model, define x and y as the normalized horizontal and vertical coordinates of the camera, and z c is the coordinate of the camera on the z-axis, and the velocity vector of the camera in the camera coordinate system is v c and ω c are the z-axis velocity and the x-z plane angular velocity of the mobile robot, respectively, and the velocity vector of the robot in its own coordinate system is v r and ω r are the reference z-axis velocity and x-z plane angular velocity of the mobile robot respectively, then the vision-based kinematics model of the mobile robot is:

[0061]

[0062] 2) Establish a tracking error model and define ρ 1 and ρ 2 Represents the real-time positio...

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Abstract

A mobile robot visual servo tracking control method with guaranteed performance, comprising the following steps: 1) considering input constraints, modeling the mobile robot visual servo tracking control problem as a class of tracking error state-space models with uncertain parameters; 2) designing guaranteed performance Index function; 3) Design path tracking controller based on guaranteed energy control algorithm; 4) Define input constraints; 5) Design guaranteed energy tracking controller. The invention provides a visual servoing guaranteed performance path tracking control method of a mobile robot that can effectively solve input constraints.

Description

technical field [0001] The invention relates to a vision-based path tracking control system for a mobile robot, in particular to a visual servoing control method for a mobile robot with input limitations. Background technique [0002] With the development of science and technology and control technology, computer vision has been widely used in various fields. The rich information of visual data and rich processing methods make the control of mobile robots based on vision widely used in scientific research, military, industry and logistics. and other fields. Path tracking, as one of the fundamental problems in the motion control of mobile robots, has attracted extensive attention. Therefore, the research on the vision-based path tracking control technology of mobile robots can not only enrich the theoretical achievements of mobile robot motion control, but also meet the increasingly high requirements for motion control technology in many fields, which has great theoretical a...

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Application Information

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Patent Type & Authority Patents(China)
IPC IPC(8): G05D1/02
CPCG05D1/0223G05D1/0246G05D1/0276
Inventor 俞立吴锦辉张文安陈旭滕游
Owner ZHEJIANG UNIV OF TECH