Adaptive tracking control for uncertain dynamic nonholonomic mobile robots based on visual servoing |
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Authors: | Fang YANG and Chaoli WANG |
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Affiliation: | 1. Business School, University of Shanghai for Science and Technology, Shanghai 200093, China;School of Science, Ningbo University of Technology, Ningbo Zhejiang 315211, China 2. Control Science and Engineering Department, University of Shanghai for Science and Technology, Shanghai 200093, China |
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Abstract: | The trajectory tracking control problem of dynamic nonholonomic wheeled mobile robots is considered via visual servoing feedback. A kinematic controller is firstly presented for the kinematic model, and then, an adaptive sliding mode controller is designed for the uncertain dynamic model in the presence of parametric uncertainties associated with the camera system. The proposed controller is robust not only to structured uncertainties such as mass variation but also to unstructured one such as disturbances. The asymptotic convergence of tracking errors to equilibrium point is rigorously proved by the Lyapunov method. Simulation results are provided to illustrate the performance of the control law. |
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Keywords: | Nonholonomic mobile robots Dynamic Kinematic Tracking Visual servoing |
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