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Fixed-time trajectory tracking control for nonholonomic mobile robot based on visual servoing

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Abstract

This paper aims to discuss fixed-time tracking control problem for a nonholonomic wheeled mobile robot based on visual servoing. At first, by making use of the pinhole camera model, the robot system model with uncalibrated camera parameters is given. Then, the tracking error system between the mobile robot and desired trajectory is proposed. Thirdly, on the basis of fixed-time control theory and Lyapunov stability analysis, fixed-time tracking control laws are proposed for the mobile robot such that the robot can track the reference trajectory in a fixed time. It is well known that the convergence time for the finite-time control systems is usually dependent on the initial state of the system. However, the settling time obtained by the fixed-time control is independent of the system initial conditions and only determined by the controller parameters, which is more in line with practical application. Simulation results are given at the end.

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Data availability

The datasets generated during and/or analyzed during the current study are available from the corresponding author on reasonable request.

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Acknowledgements

This work is supported by Natural Science Foundation of Anhui Province (1908085MF219), Natural Science Foundation of the Anhui Higher Education Institutions(KJ2020A0710), Natural Science Foundation of Shandong Province (ZR2020Y-Q48), Postdoctoral Science Foundation of China(2017M621590) and the Open Project Program of Ministry of Education Key Laboratory of Measurement and Control of CSE(MCCSE2018-B03).

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Authors and Affiliations

  1. School of Mechanical and Electrical Engineering, Chuzhou University, Chuzhou, 239000, People’s Republic of China

    Meiying Ou

  2. School of Engineering, Qufu Normal University, Rizhao, 276826, People’s Republic of China

    Haibin Sun

  3. School of Instrument Science and Engineering, Southeast University, Nanjing, 210096, People’s Republic of China

    Zhenxing Zhang

  4. School of Computer and Information Engineering, Chuzhou University, Chuzhou, 239000, People’s Republic of China

    Shengwei Gu

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  1. Meiying Ou
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Correspondence to Meiying Ou.

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Ou, M., Sun, H., Zhang, Z. et al. Fixed-time trajectory tracking control for nonholonomic mobile robot based on visual servoing. Nonlinear Dyn 108, 251–263 (2022). https://doi.org/10.1007/s11071-021-07191-8

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  • DOI: https://doi.org/10.1007/s11071-021-07191-8

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