Visual servo robot adaptive tracking control method based on preset performance
A technology of adaptive tracking and visual servoing, applied in the direction of adaptive control, general control system, control/adjustment system, etc., can solve problems such as underactuation, parameter uncertainty, nonlinearity, etc., to improve robustness and guarantee Effects of Stable Operation and Expansion of Application Range
Active Publication Date: 2022-07-08
BEIHANG UNIV
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[0004] In view of this, the present invention provides a visual servo robot adaptive tracking control method based on preset performance to solve the problems of underactuation, nonlinearity and parameter uncertainty in the tracking process of wheeled mobile robots in the prior art
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Embodiment 1
[0143] Using MATLAB software, the established vision-based two-wheel mobile robot model and the designed adaptive controller are simulated. Suppose the target of interest is doing the following trajectory,
[0144]
[0145] Let the initial state of the mobile robot be set as , the desired tracking distance is , the control parameters in the controller are specifically .
[0146] In order to compare the control effect, the control scheme designed by the present invention and the simulation based on the common BLF control were carried out using the same control coefficients. The simulation results are as follows: Figure 4-Figure 6 shown. Figure 4 It is a schematic diagram of the simulation result of the two-wheel mobile robot tracking the curved moving target in the XOY plane provided by the present invention; Figure 5a is a schematic diagram of the angle tracking error and predefined constraints provided by the present invention, Figure 5b is a schematic diagr...
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The invention relates to the field of visual servo robot control, and provides a visual servo robot self-adaptive tracking control method based on preset performance. The method comprises the following steps: establishing a motion model of the double-wheel mobile robot and a relative motion model between a motion target and the double-wheel mobile robot; based on a relative motion model between the moving target and the double-wheel mobile robot, a preset performance function of finite time self-adaptive adjustment is provided, the upper bound of an angle tracking error is obtained, and it is guaranteed that the moving target is always kept within the view field range of a camera in the tracking process. According to the method, the performance indexes such as overshoot, convergence speed and steady-state error of the control system are ensured to meet preset requirements; the robustness of a tracking algorithm is improved, and stable operation of a control system is ensured; the linear velocity and the angular velocity of the moving target are estimated in real time, and the application range of visual servo is expanded.
Description
technical field [0001] The invention relates to the field of visual servo robot control, in particular to a visual servo robot adaptive tracking control method based on preset performance. Background technique [0002] In recent years, with the rapid development of computer vision and artificial intelligence, vision systems have been widely used in mobile robot research. Vision-based tracking control of mobile robots has also become a research hotspot in computer vision, robotics and other disciplines. As the eyes of mobile robots, vision sensors can obtain rich environment and target information, such as shape, color, texture, position, etc., in order to complete many challenging and promising tasks, such as positioning and navigation, target tracking, path planning, Obstacle avoidance and human-computer interaction, etc. When the vehicle-mounted camera is the only sensor, the velocity of the dynamic target is difficult to measure directly. For example, the Chinese inven...
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IPC IPC(8): G05B13/04
CPCG05B13/042
Inventor 王薇钱瑞于孟择高庆马鸣霄
Owner BEIHANG UNIV