Research On Control Algorithm Of Two-wheeled Robot Based On Visual Serv

Under the rapid development of science and technology,visual servo mobile robot has been widely used in industrial production,emergency rescue and other fields,and it is of great value on the research on the trajectory tracking control algorithm.In the image-based visual servo system,2d coordinate is used as feedback information.When the camera is uneven,the depth appears in nonlinear form,which increases the difficulty of controller design.In this paper,the trajectory tracking problem of mobile robot facing complex working environment in practical application is studied.The main work is as follows:(1)For a kind of mobile robot with non-holonomic kinematics,a depth-independent Jacobian matrix is constructed by decomposing Jacobian matrix,and a visual servo system with non-parallel camera planes is established.Considering the problem of uncertain model parameters inside the system and unknown disturbance outside,an integral sliding mode control plan based on Super-twisting algorithm is proposed,and the disturbance term is put into the higher derivative of the sliding mode switching function,which makes the disturbance to continuous compensation and reduces the chattering phenomenon in sliding mode control.The stability of the system and the finite-time convergence of the system state are proved by Lyapunov theory.Finally,the effectiveness of the control method is proved by simulation.(2)Aiming at the trajectory tracking problem with quantitative feedback,a quantitative feedback control method based on Super-twisting algorithm is proposed,and the limit of quantization error is put into the sliding mode switching function to restrain the influence of quantization on the stability of the system.The conditions of quantizer parameters and controller parameters when the system state converges are derived by Lyapunov stability theory.Finally,the effectiveness of the control plan is verified by simulation.(3)An adaptive control plan is proposed to solve the problem of unknown parameters of homography matrix when the camera is not calibrated,which decomposes the depth-independent Jacobian matrix linearly,estimates the unknown parameters online,and completes the trajectory tracking task.The Lyapunov stability theory proves that the tracking error can gradually reach zero.Finally,the effectiveness of the control method is proved by simulation.