Finite-time tracking control for multiple non-holonomic mobile robots based on visual servoing |
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Authors: | Meiying Ou Chaoli Wang |
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Affiliation: | 1. School of Mechanical and Electronic Engineering, Chuzhou University, Chuzhou 239000, China;2. School of Automation, Southeast University, Nanjing 210096, China;3. Control Science and Engineering Department, University of Shanghai for Science and Technology, Shanghai 200093, China |
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Abstract: | This paper investigates finite-time tracking control problem of multiple non-holonomic mobile robots via visual servoing. It is assumed that the pinhole camera is fixed to the ceiling, and camera parameters are unknown. The desired reference trajectory is represented by a virtual leader whose states are available to only a subset of the followers, and the followers have only interaction. First, the camera-objective visual kinematic model is introduced by utilising the pinhole camera model for each mobile robot. Second, a unified tracking error system between camera-objective visual servoing model and desired reference trajectory is introduced. Third, based on the neighbour rule and by using finite-time control method, continuous distributed cooperative finite-time tracking control laws are designed for each mobile robot with unknown camera parameters, where the communication topology among the multiple mobile robots is assumed to be a directed graph. Rigorous proof shows that the group of mobile robots converges to the desired reference trajectory in finite time. Simulation example illustrates the effectiveness of our method. |
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Keywords: | finite-time tracking control non-holonomic mobile robot cooperative control leader–follower visual servoing |
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