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

被引：0
作者：
Liang Z.-Y. [1 ]
Wang X. [1 ]
Jin Z.-K. [1 ]
机构：
[1] School of Mathematics and Statistics, Shandong University of Technology, Zibo
来源：
Kongzhi yu Juece/Control and Decision | 2021年 / 37卷 / 01期
关键词：
Adaptive; Chained form; Dynamic feedback; Mobile robots; Nonholonomic systems; Tracking control;
D O I：
10.13195/j.kzyjc.2020.0730
中图分类号：
学科分类号：
摘要：
The problem of uncertain nonholonomic mobile robot tracking control based on visual servo is studied. Based on visual feedback and state input transformation, an uncertain model for a class of nonholonomic kinematic systems is proposed. In three different cases, adaptive dynamic feedback controllers are designed to track the desired trajectory of the uncertain system by two new transformations. Adaptive dynamic feedback controllers are designed to track the desire trajectory of the uncertain system for two cases. The convergence of the erroe system is proved rigorously using the extended barbalat theorem and the Lyapunov method. Simulation results demonstrate the effectiveness of the proposed method. © 2022, Editorial Office of Control and Decision. All right reserved.
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页码：247 / 256
页数：9
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