Stage robot prediction control method based on visual sensor
A visual sensor and predictive control technology, applied in the field of trajectory tracking of stage robots, can solve the problems of data loss, actuator saturation, parameter uncertainty, etc., and achieve the effect of solving the problem of visual servo guaranteed performance tracking control.
Active Publication Date: 2019-05-17
ZHEJIANG UNIV OF TECH
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[0004] In order to overcome the inability of the prior art to solve the shortcomings of data loss and actuator saturation in the visual servo trajectory tracking and predictive control of stage robots, the present invention provides a visual servo trajectory tracking and predictive control method for the problems of stage robot data packet loss and actuator saturation. By modeling this problem as a kind of tracking error model with uncertain parameters, the corresponding performance index is given based on this model, and the solution method of feedback controller gain is also provided
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[0053] The present invention will be further described below in conjunction with the accompanying drawings.
[0054]refer to figure 1 and figure 2 , a visual sensor-based predictive control method for a stage robot, comprising the following steps:
[0055] 1) Establish a stage robot kinematics model;
[0056] define [x y θ] T are the horizontal and vertical coordinates of the stage robot in the world coordinate system and the direction angle of the robot, then the kinematics model of the non-complete stage robot is
[0057]
[0058] Among them, v is the linear velocity of the stage robot, and w is the angular velocity of the stage robot;
[0059] 2) Fix the camera on the suspension, use the image-based visual servo method to establish the error model of the stage robot, in order to verify the effectiveness of the proposed algorithm, select the camera parameter d 1 = d 2 = 2m, p x =1m,p y = 1m, θ * =0.2rad, then the system model is
[0060]
[0061] Among the...
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The invention discloses a stage robot prediction control method based on a visual sensor. The method comprises the following steps that 1) a stage robot kinematics model is established; 2) a stage robot error model is established by adopting an image-based visual servo method; 3) considering uncertainty, actuator saturation and data abnormality of a system, the system is converted into an uncertain system with a packet loss and actuator saturation; 4) a performance index function is defined, and a prediction equation is determined according to the error model; and 5 ) in combination with the prediction equation, a stable state feedback controller is designed. According to the stage robot prediction control method based on the visual sensor, the problem of data loss is effectively solved, and input constraints are achieved.
Description
technical field [0001] The invention relates to the technical field of trajectory tracking of a stage robot, in particular to a visual sensor-based predictive control method for a stage robot. 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 entertainment, scientific research, military and industry. and logistics. Trajectory tracking, as one of the basic problems in the motion control of mobile robots, has attracted extensive attention. Therefore, the research on the trajectory tracking control technology of mobile robots based on vision 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 and...
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Inventor 倪洪杰秦冬冬陈旭刘安东
Owner ZHEJIANG UNIV OF TECH