新视觉模型下非完整移动机器人同时镇定和跟踪控制研究

项目名称： 新视觉模型下非完整移动机器人同时镇定和跟踪控制研究

项目编号： No.61503205

项目类型： 青年科学基金项目

立项/批准年度： 2016

项目学科： 自动化技术、计算机技术

项目作者： 杨芳

作者单位： 宁波工程学院

项目金额： 20万元

中文摘要： 视觉传感器可以模拟人的眼睛进行非接触测量，这对机器人在不易精确建模的环境中完成稳定化控制任务非常有效。相对于单独的视觉伺服反馈镇定或跟踪控制器来说，视觉伺服反馈下同时镇定和跟踪控制器在非完整机器人执行任务时无需切换，因此具有更好的理论意义和潜在的应用价值。主要研究内容：构建新的摄像机视觉模型；设计不确定视觉非完整移动机器人的鲁棒镇定、轨迹跟踪、同时镇定和跟踪控制器；进一步探讨输入饱和、有限时间约束控制等课题。主要创新点: 拟采用动态反馈、光滑的滑模控制和自适应控制设计轨迹跟踪控制器；将动态反馈法结合Backstepping技巧解决同时镇定和跟踪问题；拟采用归一化的思想，将确定信号恰当归一化，使得力矩控制输入仅依赖于系统参数和参考轨迹，设计合适的更新律，使得被估计参数限制在已知的紧集中，实现饱和力矩的同时镇定和跟踪控制。课题的实施将进一步丰富和完善非完整移动机器人的基本理论和研究方法。

中文关键词： 非完整移动机器人；镇定；同时镇定和跟踪；视觉伺服

英文摘要： Visual sensors can be used to mimic human eyes and implement noncontact measurement.They are effective sensors for the robot to complete the stabilization control tasks in the environment difficult to model accurately. Relative to the single visual servoing feedback stabilization or tracking controller, visual servoing feedback simultaneous stabilization and tracking controller has better theory significance and potential application value because without switch in nonholonomic robot to perform tasks. The main contents include: To build a new camera visual model; Design robust stabilization, trajectory tracking and simultaneous stabilization and tracking controller of uncertain nonholonomic mobile robots; Further to discuss the input saturation, finite time constraint control etc. The main innovations can be summarized as: Firstly, the dynamic feedback, smooth sliding mode control and adaptive control will be used to design the trajectory tracking controller. Secondly, the dynamic feedback method combined with Backstepping technique to solve the simultaneous stabilization and tracking problem. Finally, through normalizing certain signals appropriately, we are able to make the torque control input is only dependent on system parameters and reference trajectory. In this way, we can compute the bounds in advance and thus ensure them to be within the saturation limits by suitably choosing update law of parameters. The saturated torque of simultaneous stabilization and tracking controller can be realized. The implementation of the project will further enrich and perfect the basic theories and research methods of nonholonomic mobile robot.

英文关键词： nonholonomic mobile robot;stabilization;simultaneous stabilization and tracking;visual servoing