Robust Regulation of Mobile Robots with Dynamic based on Uncalibrated Visual Servoing

被引：0
作者：
Wang, Gang [1 ]
Wang, Chaoli [1 ]
Du, Qinghui [2 ]
机构：
[1] Univ Shanghai Sci & Technol, Dept Control Sci & Engn, Shanghai 200093, Peoples R China
[2] Univ Shanghai Sci & Technol, Sch Business, Shanghai 200093, Peoples R China
来源：
2014 11TH WORLD CONGRESS ON INTELLIGENT CONTROL AND AUTOMATION (WCICA) | 2014年
关键词：
Regulation; Dynamic; Nonholonomic; Visual servoing; ADAPTIVE TRACKING CONTROL;
D O I：
暂无
中图分类号：
TP [自动化技术、计算机技术];
学科分类号：
0812 ;
摘要：
This paper considers the problem of the regulation of nonholonomic wheeled mobile robots with dynamic based on uncalibrated visual servoing. First, the desired virtual velocity is designed to stabilize the kinematic model exponentially. And then the method of computed-torque is introduced for the dynamic model associated with uncertain disturbances to design the torque controller which could let the actual velocity track the desired one in finite time. The stability of the proposed method is proved rigorously. Simulation results confirm the effectiveness of the proposed methods.
引用
收藏
页码：267 / 272
页数：6
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