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Adaptive tracking control for dynamic nonholonomic mobile robots with uncalibrated visual parameters
Author(s) -
Yang Fang,
Wang Chaoli,
Jing Guangzhu
Publication year - 2013
Publication title -
international journal of adaptive control and signal processing
Language(s) - English
Resource type - Journals
SCImago Journal Rank - 0.73
H-Index - 66
eISSN - 1099-1115
pISSN - 0890-6327
DOI - 10.1002/acs.2342
Subject(s) - backstepping , visual servoing , control theory (sociology) , nonholonomic system , controller (irrigation) , kinematics , computer science , lyapunov function , parametric statistics , trajectory , mobile robot , control engineering , artificial intelligence , adaptive control , computer vision , robot , engineering , control (management) , mathematics , nonlinear system , statistics , physics , classical mechanics , quantum mechanics , astronomy , agronomy , biology
SUMMARY The trajectory tracking control problem of uncertain dynamic nonholonomic mobile robots is addressed in this paper. A novel uncertain camera‐object visual servoing kinematic tracking error model is proposed firstly. And then, on the basis of this model, a new adaptive torque tracking controller is presented in the presence of parametric uncertainties associated with the camera system and mechanical dynamic system. The controller synthesis is based on Lyapunov's direct method and backstepping technique. Simulation results are provided to illustrate the performance of the control law. Copyright © 2012 John Wiley & Sons, Ltd.