Visual Trajectory Tracking Control of Non-Holonomic Mobile Robots: A Cascaded Approach

被引：0
|
作者：
Zhang, Yuanxu [1 ]
Sun, Xiaoxiao [1 ]
Gao, Jian [1 ]
Liang, Qingwei [1 ]
机构：
[1] Northwestern Polytech Univ, Sch Marine Sci & Technol, Xian, Peoples R China
来源：
2021 6TH IEEE INTERNATIONAL CONFERENCE ON ADVANCED ROBOTICS AND MECHATRONICS (ICARM 2021) | 2021年
关键词：
UNIFORM ASYMPTOTIC STABILITY;
D O I：
10.1109/ICARM52023.2021.9536070
中图分类号：
TP [自动化技术、计算机技术];
学科分类号：
0812 ;
摘要：
In this paper, a visual-based trajectory tracking controller of non-holonomic mobile robots is designed using a nonlinear cascaded approach. Firstly, the visual trajectory tracking model is established for a mobile robot system with a fixed camera. The tracking error dynamics is derived, and the whole system is divided into two cascaded subsystems, namely the longitudinal tracking subsystem and the lateral tracking subsystem. Then globally asymptotically stable controllers are designed using the backstepping method for them, and the stability of the system is proved using the cascaded system theory. Simulation results show that the proposed visual-based cascaded control method achieves the trajectory tracking. The trajectory tracking experiment with a mobile robot is also performed to verify the feasibility of the proposed cascaded approach.
引用
收藏
页码：817 / 822
页数：6
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