Adaptive Dynamic Tracking Control for Uncertain Nonholonomic Mobile Robots Based on Visual Servoing

摘要：

The tracking control of wheeled dynamic mobile robots via visual servoing feedback is considered. A kinematic controller is firstly presented for the kinematic model, and then, an adaptive torque tracking controller is designed for the uncertainty dynamic model in the presence of parametric uncertainty associated with the camera system. The asymptotic convergence of tracking errors to zero is rigorously proved by the Lyapunov method. Simulation results are provided to illustrate the performance of the control law.

关键词： Nonholonomic Dynamic Mobile robot Visual servoing

作者: Fang Yang Chaoli Wang Hua Chen Dongkai Zhang

作者单位: Control Science and Engineering Department, University of Shanghai for Science and Technology, Shang Control Science and Engineering Department, University of Shanghai for Science and Technology, Shang

会议类型: 国际会议

会议名称: The 31st Chinese Control Conference(第三十一届中国控制会议)

会议地点: 合肥

会议语种:英文

页码: 3047-3051

在线出版日期: 2012-07-01（万方平台首次上网日期，不代表论文的发表时间）