摘要
针对具有测量数据异常和执行器饱和的移动舞台机器人轨迹跟踪问题,研究了一种基于预测控制的视觉伺服轨迹跟踪方法。首先,将摄像头固定在架子上,结合基于图像的建模方法,给出了移动舞台机器人轨迹跟踪误差模型。同时,考虑因移动舞台机器人抖动和舞台光照影响造成的异常检测数据和执行机构的饱和输入问题,将轨迹跟踪误差模型转化为具有不确定和随机参数的线性化模型。基于Lyapunov稳定性理论,采用预测控制方法和线性矩阵不等式技术给出了保证闭环系统渐近稳定的充分条件,并给出了预测控制器的设计方法。最后,通过仿真和实验给出了所提算法有效性的证明。
This paper studies predictive control based trajectory tracking problem for mobile stage robots with abnormal data and actuator saturation.Firstly,fixing the camera on the shelf and combining with image-based modeling method,the trajectory tracking error model is derived for the mobile stage robot.Then,considering the problem of anomaly detection data caused by jitter and illumination and saturated input of actuator of mobile stage robot,the trajectory tracking error model is transformed into a linearized model with uncertain and random parameters.Based on Lyapunov stability theory,sufficient conditions to ensure the closed-loop system to be asymptotically stable are given by using predictive control method and linear matrix inequality technology,and the design method of the predictive controller is also given.Finally,the effectiveness of the proposed method is verified by both simulation and experiment.
作者
倪洪杰
刘安东
俞立
禹鑫燚
Ni Hongjie;Liu Andong;Yu Li;Yu Xinyi(College of Information Engineering,Zhejiang University of Technology,Hangzhou 310023)
出处
《高技术通讯》
EI
CAS
北大核心
2019年第9期895-904,共10页
Chinese High Technology Letters
基金
浙江省重点研发计划(2017C03060)
NSFC-浙江两化融合联合基金(U1709213)
浙江省自然科学基金(LY17F030019)资助项目
关键词
移动舞台机器人
预测控制
视觉伺服
轨迹跟踪
mobile stage robot
predictive control
visual servoing
trajectory tracking
