Abstract
In this paper, an active disturbance rejection control (ADRC) based visual servoing strategy is designed to maneuver the wheeled mobile robot from different initial poses to the desired pose at an exponential rate. In addition, the problems of monocular vision that lacking depth information and unknown camera-to-robot translational parameters are taken into consideration. In this strategy, an input state scaling technique is used to obtain two decoupled subsystems, then two control laws are designed separately. The un-modeled information and disturbances of the system are uniformly estimated by an extended state observer (ESO) and compensated for by a switching controller. Simulation results validate the effectiveness of the proposed scheme.
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Huang, Y., Zhang, L., Hou, X. (2023). Exponential Visual Stabilization of Wheeled Mobile Robots Based on Active Disturbance Rejection Control. In: Deng, Z. (eds) Proceedings of 2023 Chinese Intelligent Automation Conference. CIAC 2023. Lecture Notes in Electrical Engineering, vol 1082. Springer, Singapore. https://doi.org/10.1007/978-981-99-6187-0_82
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DOI: https://doi.org/10.1007/978-981-99-6187-0_82
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