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

Author

Yang, Fang ; Wang, Chaoli

Author_Institution

Bus. Sch., Univ. of Shanghai for Sci. & Technol., Shanghai, China

fYear

2011

fDate

15-18 May 2011

Firstpage

269

Lastpage

274

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, based on 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 back-stepping technique. Simulation results are provided to illustrate the performance of the control law.

Keywords

Lyapunov methods; adaptive control; control system synthesis; image sensors; mobile robots; position control; robot dynamics; torque control; visual servoing; Lyapunov direct method; adaptive torque tracking controller; backstepping technique; controller synthesis; trajectory tracking control problem; uncalibrated camera parameters; uncertain camera-object visual servoing kinematic tracking error model; uncertain dynamic nonholonomic mobile robots; Adaptation model; Cameras; Mobile robots; Robot vision systems; Visualization; Wheels;

fLanguage

English

Publisher

ieee

Conference_Titel

Control Conference (ASCC), 2011 8th Asian

Conference_Location

Kaohsiung

Print_ISBN

978-1-61284-487-9

Electronic_ISBN

978-89-956056-4-6

Type

conf

Filename

5899083