视觉伺服鲁棒稳定控制非 holonomic 机器人

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"动态反馈鲁棒稳定化非完整机动机器人基于视觉伺服控制 (2010年)" 这篇2010年的论文《Dynamic feedback robust stabilization of nonholonomic mobile robots based on visual servoing》深入探讨了非完整机动机器人的视觉伺服鲁棒稳定性问题。非完整机动机器人在自动驾驶、无人探索等领域具有广泛应用，但其控制系统的设计面临诸多挑战，特别是视觉参数的标定。视觉参数的标定通常是一个复杂且计算量大的任务，对于实时性要求高的应用来说，精确的标定在某些情况下可能无法实现。因此，研究者们对设计一种能够应对未标定视觉参数的非完整动力学系统稳定控制器产生了浓厚的兴趣和需求。论文提出了一种新颖的不确定模型来描述这些非完整动力学系统。该模型考虑了未标定视觉参数的不确定性，旨在通过动态反馈控制策略实现机器人的鲁棒稳定。视觉伺服是一种利用摄像头图像信息直接或间接控制机器人运动的方法，它在机器人定位和导航中起着关键作用。在非完整机动机器人中，由于系统自身的约束（如轮式移动机器人的滚动约束），控制设计变得更加复杂。为了克服这一难题，论文可能提出了一个基于动态反馈的控制方案，这种方案能够在视觉信息不完全或存在噪声的情况下，确保机器人的稳定性和轨迹跟踪性能。动态反馈控制是一种能够根据系统状态实时调整控制输入的方法，它能够有效地抑制不确定性的影响，提高系统的鲁棒性。论文可能还包含了实验验证部分，通过实际机器人平台验证了所提出的控制策略在实时环境中的性能。这不仅证明了理论分析的有效性，也为实际应用提供了重要的参考。这篇论文为非完整机动机器人的控制领域带来了一种创新方法，特别是在视觉伺服和动态反馈控制的结合上，对于提升机器人在复杂环境下的自主导航能力具有重要意义。对于相关领域的研究人员和工程师来说，这是了解和解决机器人视觉控制问题的重要资源。

J Control Theory Appl 2010 8 (2) 139–144

DOI 10.1007/s11768-010-0003-1

Dynamic feedback robust stabilization of

nonholonomic mobile robots based on

visual servoing

Chaoli WANG

, Zhenying LIANG

2,3

, Qingwei JIA

(1.Department of Control Science and Engineering, University of Shanghai for Science and Technology, Shanghai 200093, China;

2.Business School, University of Shanghai for Science and Technology, Shanghai 200093, China;

3.School of Science, Shandong University of Technology, Zibo Shandong 255049, China;

4.Research & Development Centre, Hitachi Asia Ltd, Hitachi Tower, Singapore 049318)

Abstract: This paper investigates the visual servoing robust stabilization of nonholonomic mobile robots. The calibra-

tion of visual parameters is not only complicated, but also needs great consumption of calculated time so that the accurate

calibration is impossible in some situations for high requirement of real timing. Hence, it is interesting and important to

consider the design of stabilizing controllers for nonholonomic kinematic systems with uncalibrated visual parameters. A

novel uncertain model of these nonholonomic kinematic systems is proposed. Based on this model, a stabilizing controller

is discussed by using dynamic feedback and two-step techniques. The proposed robust controller makes the mobile robot

image pose and the orientation converge to the desired conﬁguration despite the lack of depth information and the lack of

precise visual parameters. The stability of the closed loop system is rigorously proved. The simulation is given to show the

effectiveness of the presented controllers.

Keywords: Nonholonomic system; Uncalibrated visual parameters; Stabilization; Dynamic feedback

1 Introduction

A mobile robot is one of the well-known systems with

nonholonomic constraints [1, 2]. By the theorem of R.

Brockett [3], a nonholonomic system cannot be stabilized

at a single equilibrium point by a smooth static state feed-

back controller. To solve this problem, lots of methods have

been considered, such as chained form methods [4,5], track-

ing control [6], and discontinuous feedback control [7]. In

the control of nonholonomic mobile robots, it is usually as-

sumed that the robot states are available and exactly recon-

structed using proprioceptive and exteroceptive sensor mea-

surements. However, in practical mobile robot applications,

there are several ideal conditions that can not be satisﬁed,

such as uncertainties in the kinematic model, mechanical

limitations, noise, and so on. The estimation of the robot

states from sensor measurements can be affected by these

perturbations.

Visual feedback is an important method to improve the

control performance of manipulators since it mimics the hu-

man sense of vision and allows for operating on the basis of

noncontact measurement of the environment. Since the late

1980s, tremendous effort has been made to study visual ser-

voing and vision-based manipulations [8].

The nonholonomic control problem becomes more in-

volved because of the visual feedback. Designing the feed-

back at the sensor level enhances system performance espe-

cially when uncertainties and disturbances affect the robot

model and the camera calibration, see [9] and references

therein.

The contribution of this paper is that a novel uncertain

kniematic model of nonholonomic mobile robots is pro-

posed by using visual feedback with uncalibrated visual pa-

rameters. The model is different from the uncertain mod-

els available. Based on this model, two-step control tech-

niques and dynamic feedback are exploited to craft a robust

controller that makes the mobile robot image pose and the

orientation be stabilized despite the lack of depth informa-

tion and precise visual parameters, provided that the camera

plane and the mobile robot plane must be parallel.

The paper is organized as follows. Section 2 introduces

the camera-object visual model in terms of the planar opti-

cal ﬂow equations. In Section 3, the controllers are synthe-

sized for a case. In Section 4, the simulation results carried

out to validate the theoretical framework. Finally, in Section

5, the major contribution of the paper is summarized.

2 Problem statement

2.1 System conﬁguration

In Fig.1, a mobile robot is shown in the X-Y plane. As-

sume that a pinhole camera is ﬁxed to the ceiling and the

camera plane and the mobile robot plane are parallel. There

are three coordinate frames, namely, the inertial frame X-

Y -Z, the camera frame X

-Y

-Z

, and the image frame u-

-v. Assume that the X

-Y

plane of the camera frame is

Received 13 January 2010.

This work was partly supported by the National Natural Science Foundation of China (No.60874002), the Key Program of Scientiﬁc Innovation of

Shanghai Education Committee (No.09zz158), and the Shanghai Key Discipline (No.S30501).

 South China University of Technology and Academy of Mathematics and Systems Science, CAS and Springer-Verlag Berlin Heidelberg 2010

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