具有未知参数的机器人-摄像机系统的自适应动态反馈跟踪控制

研究了不确定非完整移动机器人系统的跟踪问题.首先,基于视觉反馈和状态输入变换,展示了一种非完整移动机器人运动学系统的不确定链式模型.基于反步法思想和跟踪误差系统结构,给出了两个重要的新变换.然后运用李雅普诺夫直接方法和扩展巴巴拉引理设计了自适应控制律和动态反馈鲁棒控制器,以实现理想轨迹的跟踪控制.严格证明了闭环误差系统的渐近收敛性.最后,仿真结果证实了提出的控制策略有效.

Adaptive Dynamic Feedback Tracking Control for a Robot-camera System with Unknown Parameters

The tracking problem of nonholonomic mobile robots with uncertainties is investigated in this paper.An uncertain model of the nonholonomic kinematic system is presented based on the visual feedback and the state and input transformations for a kind of mobile robots in chained form with uncertainties.Two transformations are exploited based on the idea of backstepping and the structure of tracking error system.Then,both an adaptive control law and a dynamic feedback robust controller are designed to track the desired trajectory by using Lyapunov direct method and the extended Barbalat Lemma.The asymptotic convergence of a closed-loop error system is proved rigorously.Finally,simulation results demonstrate the effectiveness of the proposed strategies.