This paper investigates the finite-time tracking problem of nonholonomic mobile robots in kinematic models via visual servoing in the presence of parametric uncertainties associated with the camera system. First of all, a camera-objective visual kinematic model is introduced by utilizing the pinhole camera model. Second, a unified tracking error system between the camera-objective visual servoing model and the desired reference trajectory is introduced. Third, based on the unified error dynamics and by using the finite-time control method, continuous finite-time controller laws are designed to solve the finite-time tracking problem for the mobile robot in the presence of parametric uncertainties associated with the camera system. Rigorous proof shows that the desired reference trajectory can be tracked in finite time. Finally, an example is employed to verify the efficiency of the proposed methods.
This paper aims to discuss fixed-time tracking control problem for a nonholonomic wheeled mobile robot based on visual servoing. At first, by making use of the pinhole camera model, the robot system model with uncalibrated camera parameters is given. Then, the tracking error system between the mobile robot and desired trajectory is proposed. Thirdly, on the basis of fixed-time control theory and Lyapunov stability analysis, fixed-time tracking control laws are proposed for the robot, which can make the robot achieve the desired value in a fixed time. Simulation results are given at the end.
scite is a Brooklyn-based organization that helps researchers better discover and understand research articles through Smart Citations–citations that display the context of the citation and describe whether the article provides supporting or contrasting evidence. scite is used by students and researchers from around the world and is funded in part by the National Science Foundation and the National Institute on Drug Abuse of the National Institutes of Health.