Adaptive tracking control for dynamic nonholonomic mobile robots with uncalibrated visual parameters

被引：15
|
作者：
Yang, Fang [1 ,2 ]
Wang, Chaoli [1 ]
Jing, Guangzhu [2 ]
机构：
[1] Shanghai Univ Sci & Technol, Control Sci & Engn Dept, Shanghai 200093, Peoples R China
[2] Ningbo Univ Technol, Sch Sci, Ningbo 315211, Zhejiang, Peoples R China
来源：
INTERNATIONAL JOURNAL OF ADAPTIVE CONTROL AND SIGNAL PROCESSING | 2013年 / 27卷 / 08期
基金：
美国国家科学基金会;
关键词：
Nonholonomic mobile robots; dynamic; kinematic; tracking; visual servoing; SYSTEMS;
D O I：
10.1002/acs.2342
中图分类号：
TP [自动化技术、计算机技术];
学科分类号：
0812 ;
摘要：
The trajectory tracking control problem of uncertain dynamic nonholonomic mobile robots is addressed in this paper. A novel uncertain camera-object visual servoing kinematic tracking error model is proposed firstly. And then, on the basis of this model, a new adaptive torque tracking controller is presented in the presence of parametric uncertainties associated with the camera system and mechanical dynamic system. The controller synthesis is based on Lyapunov's direct method and backstepping technique. Simulation results are provided to illustrate the performance of the control law. Copyright (c) 2012 John Wiley & Sons, Ltd.
引用
收藏
页码：688 / 700
页数：13
相关论文
共 50 条
  • [1] Adaptive dynamic feedback tracking control for nonholonomic mobile robots with uncalibrated camera parameters
    Liang, Zhen-Ying
    Wang, Xi
    Jin, Zeng-Ke
    [J]. Kongzhi yu Juece/Control and Decision, 2021, 37 (01): : 247 - 256
  • [2] Adaptive dynamics tracking control for nonholonomic mobile robots with uncalibrated camera parameters
    Liang, Zhen-Ying
    Xu, Yu-Jing
    Dong, Li-Li
    Li, Cai-Hong
    [J]. Kongzhi yu Juece/Control and Decision, 2019, 34 (10): : 2164 - 2170
  • [3] Tracking Control for Uncertain Dynamic Nonholonomic Mobile Robots with Unknown Visual Parameters
    Yang, Fang
    Wang, Chaoli
    Wang, Baolei
    [J]. 2011 9TH WORLD CONGRESS ON INTELLIGENT CONTROL AND AUTOMATION (WCICA 2011), 2011, : 1189 - 1194
  • [4] Adaptive tracking control for uncertain dynamic nonholonomic mobile robots based on visual servoing
    Fang Yang
    Chaoli Wang
    [J]. Journal of Control Theory and Applications, 2012, 10 (1): : 56 - 63
  • [5] Adaptive Dynamic Tracking Control for Uncertain Nonholonomic Mobile Robots Based on Visual Servoing
    Yang, Fang
    Wang, Chaoli
    Chen, Hua
    Zhang, Dongkai
    [J]. PROCEEDINGS OF THE 31ST CHINESE CONTROL CONFERENCE, 2012, : 3047 - 3051
  • [6] Adaptive tracking control for uncertain dynamic nonholonomic mobile robots based on visual servoing
    Fang YANG 1
    2.School of Science
    3.Control Science and Engineering Department
    [J]. Journal of Control Theory and Applications, 2012, 10 (01) : 56 - 63
  • [7] Uncalibrated Visual Servoing of Nonholonomic Mobile Robots
    Li, Baoquan
    Fang, Yongchun
    Zhang, Xuebo
    [J]. 2013 IEEE/RSJ INTERNATIONAL CONFERENCE ON INTELLIGENT ROBOTS AND SYSTEMS (IROS), 2013, : 584 - 589
  • [8] Adaptive Beckstepping Dynamic Surface Tracking Control of Nonholonomic Mobile Robots
    Huang, Jeng-Tze
    Sung, Ying-Liang
    [J]. PROCEEDINGS OF THE 2016 IEEE 11TH CONFERENCE ON INDUSTRIAL ELECTRONICS AND APPLICATIONS (ICIEA), 2016, : 1026 - 1031
  • [9] Adaptive Dynamic Feedback Tracking Control for the Nonholonomic Mobile Robots with Uncertainties
    Liang Zhenying
    Wang Chaoli
    Xu Feng
    Pan Yalei
    [J]. PROCEEDINGS OF THE 31ST CHINESE CONTROL CONFERENCE, 2012, : 3057 - 3062
  • [10] Uncalibrated Visual Servo Tracking control of Mobile Robots
    Qiu, Yu
    Li, Baoquan
    Shi, Wuxi
    [J]. 2018 IEEE 8TH ANNUAL INTERNATIONAL CONFERENCE ON CYBER TECHNOLOGY IN AUTOMATION, CONTROL, AND INTELLIGENT SYSTEMS (IEEE-CYBER), 2018, : 127 - 131
12345