PDF全文下载:2015040438
陈曦1, 雷衍2a, 陈华2b,2c*, 王亚伟2a, 陈伟旭2a(1.常州轻工职业技术学院 基础部数学教研室,江苏 常州 213164;2.河海大学 a.物联网工程学院,
b.常州校区数理教学部;c.常州市特种机器人及智能技术重点实验室,江苏 常州 213022)
摘要: 针对视觉伺服轮式移动机器人,考虑其非完整约束被破坏情形下的离散化运动学系统,给出了一个离散型的滑模跟踪控制器设计策略,运用Lyapunov理论对相应的跟踪误差系统进行了严格的稳定性证明。最后,仿真算例验证了控制器设计的有效性。
关键词: 轮式移动机器人; 轨迹跟踪; 视觉伺服; 离散型滑模
中图分类号: TP 273 文献标志码: A
Visual Control of Mobile Robots Based on Visual Servoing with Discrete Sliding Mode
CHEN Xi1, LEI Yan2a, CHEN Hua2b,2c, WANG Yawei2a, CHEN Weixu2a
(1.Department of Basics, Changzhou Institute of Light Industry Technology, Changzhou 213164,China;
2. a.College of IOT Engineering, b.Mathematics and Physics Department, Changzhou Campu,
c.Changzhou Key Laboratory of Special Robot and Intelligent Technology, Hohai Universtiy, Changzhou 213022, China)
Abstract: Based on visual servoing, the trajectory tracking control problem is considered for wheeled mobile robots with destroyed nonholonomic constraint in this paper. A discretetime sliding mode controller is proposed for the kinematic systems, the stability of the tracking error system is proved by applying Lyapunov theory. Finally, the simulation results show the effectiveness of the proposed control design approach.
Key words: wheeled mobile robots; trajectory tracking; visual servoing; discretetime sliding mode
收稿日期: 20141002
基金项目: 国家自然科学基金项目(61304004);中国博士后基金项目(2013M531263);江苏省博士后基金项目(1302140C);常州市特种机器人及智能技术重点实验室开放基金项目(CZSR2014005).
作者简介: 陈曦(1979—),男,讲师 *通信联系人.
文章编号:16726987(2015)04043805; DOI: 10.16351/j.16726987.2015.04.017