BINOCULAR VISUAL COORDINATED TRACKING CONTROL FOR A MULTI-ROBOT SYSTEM BASED ON TERMINAL SLIDING MODE

Nuan Shao

Keywords

Multirobot system, binocular visual servo control, nonsingular fast terminal sliding mode, coordinated tracking control

Abstract

Aiming at the coordinated tracking control problem for a multi-robot system, a binocular visual servo control strategy is proposed. Firstly, a new binocular visual servo model is established by introducing a pseudodepth variable for a dynamic target point, then combine this model with the directed graph to complete the design of guidance system, so as to provide desired tracking trajectories for the followers. Secondly, nonsingular fast terminal sliding mode controllers for the followers are designed based on backstepping and two power-reaching laws, meanwhile, radial basis function neural networks are employed to approximate the uncertain items. Finally, a simulation is carried out on multiple 2-DOF robots, and results show the validity of the proposed control strategy.

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