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A Visual Feedback Model-Free Design for Robust Tracking of Nonholonomic Mobile Robots

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Proceedings of 2016 Chinese Intelligent Systems Conference (CISC 2016)

Part of the book series: Lecture Notes in Electrical Engineering ((LNEE,volume 405))

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Abstract

This paper considers the problem of designing a visual feedback control law for robust tracking of nonholonomic mobile robots. The control approach developed in this work with uncalibrated visual parameters, unknown control directions, and external disturbances. Using incomplete information of the moving objects to be tracked to propose a model-free, self-support control algorithm to ensure the tracking error can be driven into a prespecified neighborhood of zero. Global stability of the corresponding closed-loop system of tracking error is proved by the Lyapunov stability theory. Finally, the simulation results demonstrate the effectiveness of the proposed controller design method.

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Acknowledgment

This work was supported by the Natural Science Foundation of China (61304004, 61503205), the Foundation of China Scholarship Council (201406715056), the China Postdoctoral Science Foundation funded project (2013M531263), the Jiangsu Planned Projects for Postdoctoral Research Funds (1302140C), the Project Supported by the Foundation (No.CZSR2014005) of Changzhou Key Laboratory of Special Robot and Intelligent Technology, P.R. China, and the Changzhou Sci&Tech Program (CJ20160013).

Author information

Authors and Affiliations

  1. Mathematics and Physics Department, Hohai University, Changzhou Campus, Changzhou, China

    Hui Chen & Hua Chen

  2. College of Mechanical and Engineering, Hohai University, Changzhou, China

    Hui Chen, Hua Chen & Yibin Wang

  3. School of Science, Ningbo University of Technology, Ningbo, China

    Fang Yang

Authors
  1. Hui Chen
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  2. Hua Chen
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  3. Yibin Wang
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  4. Fang Yang
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Corresponding author

Correspondence to Hua Chen .

Editor information

Editors and Affiliations

  1. Beihang University , Beijing, China

    Yingmin Jia

  2. Beijing University of Posts and Telecommunications, Beijing, China

    Junping Du

  3. University of Science and Technology Beijing, Beijing, China

    Weicun Zhang

  4. Tsinghua University , Beijing, China

    Hongbo Li

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Chen, H., Chen, H., Wang, Y., Yang, F. (2016). A Visual Feedback Model-Free Design for Robust Tracking of Nonholonomic Mobile Robots. In: Jia, Y., Du, J., Zhang, W., Li, H. (eds) Proceedings of 2016 Chinese Intelligent Systems Conference. CISC 2016. Lecture Notes in Electrical Engineering, vol 405. Springer, Singapore. https://doi.org/10.1007/978-981-10-2335-4_56

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  • DOI: https://doi.org/10.1007/978-981-10-2335-4_56

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  • Publisher Name: Springer, Singapore

  • Print ISBN: 978-981-10-2334-7

  • Online ISBN: 978-981-10-2335-4

  • eBook Packages: Computer ScienceComputer Science (R0)

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