Abstract: Velocity vector transformation from vision space to task space is finished，based on the kinematic model of mobile service robot，and imaging principle of pinhole camera.A global asymptotically stable tracking controller is designed by using visual serving and backstepping method，meanwhile，the Lyapunov theory is used to verify the stability of the controller.Simulation results show the effectiveness and correctness of the designed controller.

摘要： 根据移动服务机器人的运动学模型和针孔摄像机成像原理，完成了机器人的速度向量由视觉空间到任务空间的变换。采用视觉伺服控制方式，结合反步设计思想，设计了具有全局渐近稳定的轨迹跟踪控制器，并利用Lyapunov函数进行稳定性分析。仿真结果验证了所设计控制器的有效性和正确性。