Adaptive tracking control for dynamic nonholonomic mobile robots with uncalibrated visual parameters

Abstract

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.

Adaptive and sliding mode tracking control for wheeled mobile robots with unknown visual parameters

“…Remark 2. The tracking controller (13) is independent of uncalibrated visual parameters α 1 and α 2 , which is different to other controllers (Jiang and Nijmeijer, 1999; Dong, 2012; Yang et al, 2013).…”

“…Suppose that ( x m , y m ) is the coordinate of ( x , y ) relative to the image frame. A pinhole camera model yields (Yang et al, 2013)…”

Fixed-time trajectory tracking control for nonholonomic mobile robot based on visual servoing

“…For a monocular camera system mounted on an underactuated wheeled mobile robot, the visual servoing tracking controller was developed in [10]. In [11], by using an uncalibrated fixed camera, a novel adaptive tracking controller was designed for a nonholonomic mobile robot system. In [12], the image-based tracking problem of wheeled mobile robots with uncertain camera parameters was studied, and adaptive trajectory tracking control laws were designed.…”

Fixed-Time Trajectory Tracking Control for Nonholonomic Mobile Robot Based on Visual Servoing

“…For a monocular camera system mounted on an underactuated wheeled mobile robot, the visual servoing tracking controller was developed in [10]. In [11], by using an uncalibrated fixed camera, a novel adaptive tracking controller was designed for a nonholonomic mobile robot system. In [12], the image-based tracking problem of wheeled mobile robots with uncertain camera parameters was studied, and adaptive trajectory tracking control laws were designed.…”