Visual servo optimization stabilization of nonholonomic mobile robots based on control Lyapunov functions. (November 2020)

• Record Type: Journal Article
• Authors: Lin, Yegui; Xing, Kexin
• Is Part Of: Measurement and control. Volume 53:Number 9/10(2020)
• Page Start: 1825
• Page End: 1831
• Publication Date: 2020-11
• Subjects: Nonholonomic mobile robots -- visual servo control -- control Lyapunov functions -- nonlinear constrained optimal control; Automatic control -- Periodicals; Engineering instruments -- Periodicals; Production engineering -- Periodicals; 629.8
• DOI: 10.1177/0020294020944960
• Languages: English
• ISSNs: 0020-2940

Abstract

This study considers the visual stabilization problem of nonholonomic mobile robots and proposes a novel optimization stabilization method for visual servo control of nonholonomic mobile robots with monocular cameras fixed onboard. The main idea of the method is to utilize control Lyapunov functions of discrete-time nonlinear systems to design a family of explicit stabilization control laws of the visual servo error system. The parameters of the control laws can indirectly reflect the performance of the visual servo controllers. Then taking account of visibility constraints and actuator limitations, a set of optimal parameters of the control laws is calculated by offline solving a constrained finite horizon optimal control problem. Moreover, the stabilization results on the optimal visual servo controller are established based on the properties of control Lyapunov functions. Finally, some simulation experiments are used to illustrate and evaluate the performance of the visual servo control scheme proposed here.