Visual servoing control of omnidirectional mobile robots based on disturbance observer. (May 2023)

• Record Type: Journal Article
• Authors: Xing, Kexin; Lin, Yegui; He, Defeng; Dong, Wei
• Is Part Of: Measurement and control. Volume 56:Number 5/6(2023)
• Page Start: 1016
• Page End: 1025
• Publication Date: 2023-05
• Subjects: Omnidirectional mobile robot -- visual servoing -- quasi-min-max model predictive control -- disturbance observer; Automatic control -- Periodicals; Engineering instruments -- Periodicals; Production engineering -- Periodicals; 629.8
• DOI: 10.1177/00202940221104772
• Languages: English
• ISSNs: 0020-2940

Abstract

This study studies a critical issue that linear velocity and steering angular velocity of the wheels of omni-directional mobile robot are easily affected by the unknown external disturbances such as wind direction and road flatness during the visual servoing stabilization task. To overcome such challenging problems, this study proposes a disturbance observer based visual servoing control strategy. In configuration, the controller is divided into two parts: the quasi-min-max model predictive controller is designed to accommodate the state constraint and input constraint of the system, and complete the visual stabilization task without disturbance. A nonlinear disturbance observer is designed to estimate the external disturbance and feedback compensate the effect of the actual disturbance on the wheel speed. The simulation results and real experiments show that the proposed control strategy can stably accomplish the visual servoing stabilization task even with a large external disturbance.