Stabilization And Research-based Visual Servo Tracking Method Robust Mobile Robot Plane

The designing of stabilizing and tracking controller of nonholonomic kinematicsystems is mostly investigated based on the assumption that the kinematics model isexactly known. But when the model parameters are not accurate or inaccuratemeasurement exists, the kinematics model of the actual system is uncertain. Wheeledmobile robots are a class of typical nonholonomic system. The control of mobile robotswith nonholonomic constraints has attracted much attention due to the inherentnonlinearity in dynamics of the robots and the usefulness in many applications. In thereal world, the precise kinematic model of mobile robot systems is difficult to obtainedbecause of the uncalibration parameters, external disturbances and unmodeled dynamics,measurement uncertainties. The uncertain nonlinear part with state and control couplingincluded in the model can bring the uncertain parameters in front of the inputs, it willbring great difficulties to the study. In this paper, based on visual servo feedback, theadaptive control, variable structure control, feedback control, two step method,Backstepping techniques and Lyapunov stability theory are used to study the robuststabilization, trajectory tracking and simultaneous stabilization and tracking control ofnonholonomic mobile robots when visual parameters are unknown. The main studiesare as follows:1、Discuss the uncertain kinematics and dynamics models of planar nonholonomicmobile robots with the monocular camera.2、The robust stabilization problem of the type (2,0) nonholonomic mobile robot atthe two cases that the mass center and geometry center is coincide and not coincide arediscussed, the kinematic stabilization controller is firstly designed, and then, the morerealization torque stabilization controller is designed, the strict proof is given.3、The trajectory tracking control problem of the type (2,0) nonholonomic mobilerobot at the two cases that the mass center and the geometry center is coincide and notcoincide are discussed, the kinematic tracking controller is firstly designed, and then,the more realization torque tracking controller is designed, the strict proof is given. 4、The trajectory tracking control problem of the type (1,1) nonholonomic mobilerobot is discussed, based on the standard chained system model, the torque trackingcontroller is designed, the strict proof is given.5、The simultaneous stabilization and tracking control problem of the type (2,0)nonholonomic mobile robot is discussed, the torque controller is designed which canguarantee the uniform stabilization and tracking control when the visual parameters areunknown, the stability of the proposed control system is rigorously proved.6、Based on the research results mentioned above, the experimental platform ofplanar nonholonomic mobile robot with monocular camera sensor is set up, simulationsor experiments are done to illustrate the effectiveness of the proposed controllers.