Vision-based Adaptive Tracking Control of Uncertain Nonholonomic Mobile Robots

被引：0
|
作者：
Wang, Lei [1 ]
Wen, Changyun [1 ]
Zou, Ying [1 ]
Liu, Zhitao [2 ]
机构：
[1] Nanyang Technol Univ, Sch Elect & Elect Engn, Singapore, Singapore
[2] Zhejiang Univ, Inst Cyber Syst & Control, State Key Lab Ind Control Technol, Hangzhou 310027, Zhejiang, Peoples R China
来源：
2017 EIGHTH INTERNATIONAL CONFERENCE ON INTELLIGENT CONTROL AND INFORMATION PROCESSING (ICICIP) | 2017年
关键词：
Adaptive Tracking; Visual Servo; Nonholonom ic Mobile Robots; Backstepping; STABILIZATION;
D O I：
暂无
中图分类号：
TP [自动化技术、计算机技术];
学科分类号：
0812 ;
摘要：
This paper considers vision-based adaptive tracking control of uncertain nonholonomic mobile robots. Due to nonholonomic constraint and lack of one dimensional information, this tracking problem becomes more challenging. With the employment of the backstepping technique, globally asymptotic convergence of the tracking errors can be established. Besides, no a priori knowledge is required on the bound of uncertain parameters.
引用
收藏
页码：44 / 48
页数：5
相关论文
共 50 条
  • [1] Vision-based Tracking Control of Nonholonomic Mobile Robots without Position Measurement
    Wang, Kai
    Liu, Yunhui
    Li, Luyang
    [J]. 2013 IEEE INTERNATIONAL CONFERENCE ON ROBOTICS AND AUTOMATION (ICRA), 2013, : 5265 - 5270
  • [2] Vision-based leader/follower tracking for nonholonomic mobile robots
    Kannan, Hariprasad
    Chitrakaran, Vilas K.
    Dawson, Darren M.
    Burg, Timothy
    [J]. 2007 AMERICAN CONTROL CONFERENCE, VOLS 1-13, 2007, : 2519 - +
  • [3] Vision-based tracking control for mobile robots
    Carelli, R
    Soria, CM
    Morales, B
    [J]. 2005 12th International Conference on Advanced Robotics, 2005, : 148 - 152
  • [4] Adaptive Trajectory Tracking of Nonholonomic Mobile Robots Using Vision-Based Position and Velocity Estimation
    Li, Luyang
    Liu, Yun-Hui
    Jiang, Tianjiao
    Wang, Kai
    Fang, Mu
    [J]. IEEE TRANSACTIONS ON CYBERNETICS, 2018, 48 (02) : 571 - 582
  • [5] 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
  • [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] 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
  • [8] Adaptive Fuzzy Trajectory-Tracking Control of Uncertain Nonholonomic Mobile Robots
    Yu, Shuanghe
    Liu, Shuang
    Xu, He
    [J]. 2008 6TH IEEE INTERNATIONAL CONFERENCE ON INDUSTRIAL INFORMATICS, VOLS 1-3, 2008, : 451 - +
  • [9] Dynamic tracking control of uncertain nonholonomic mobile robots
    Dong, WJ
    Guo, Y
    [J]. 2005 IEEE/RSJ INTERNATIONAL CONFERENCE ON INTELLIGENT ROBOTS AND SYSTEMS, VOLS 1-4, 2005, : 1714 - 1719
  • [10] Vision-based Stabilization of Nonholonomic Mobile Robots by Integrating Sliding-mode Control and Adaptive Approach
    Cao Zhengcai
    Yin Longjie
    Fu Yili
    [J]. CHINESE JOURNAL OF MECHANICAL ENGINEERING, 2013, 26 (01) : 21 - 28
12345