Design of Visual Adaptive Control System for Mobile Robot Based on Sliding Mode Speed Tracking

Abstract

Aiming at the stabilization problem of mobile robot system in a complex environment, the 2D trifocal tensor visual system is used for the real-time estimation of robot position, which can enhance the robustness of robot visual servo system. On this basis, an adaptive control method is used to realize the motion control of mobile robot. The design of the sliding mode speed tracking controller makes the actual speed of mobile robot tend to the expected speed of the adaptive controller, to avoid the shake problem when the speed of mobile robot changes. The simulation results show that the proposed visual adaptive control system has high stability and robustness, and the sliding mode speed tracker is effective.