Trajectory Tracking Control for Mobile Robots with Abnormal Data and External Disturbances

This paper studies a visual servoing trajectory predictive tracking control problem for wheeled mobile robots with abnormal image data and bounded external disturbances. Firstly, based on the kinematics and dynamics model of mobile robot, a mixed tracking error model of mobile robot is established by using image-based visual servoing method. Considering the abnormal image data and external disturbances, the mixed tracking error model is converted into a discrete-time model with data loss and disturbances. A sufficient condition is derived by using predictive control approach to ensure the asymptotic stability of the closed-loop system, and the min-max method was used to obtain the upper bound of cost function. Then, a state feedback controller is designed by solving a set of linear matrix inequalities. Finally, the effectiveness of the proposed algorithm is demonstrated by a numerical example.