Skip to main content
SpringerLink
Log in

Vision-based stabilization of nonholonomic mobile robots by integrating sliding-mode control and adaptive approach

  • Published:
Chinese Journal of Mechanical Engineering Submit manuscript

Abstract

Vision-based pose stabilization of nonholonomic mobile robots has received extensive attention. At present, most of the solutions of the problem do not take the robot dynamics into account in the controller design, so that these controllers are difficult to realize satisfactory control in practical application. Besides, many of the approaches suffer from the initial speed and torque jump which are not practical in the real world. Considering the kinematics and dynamics, a two-stage visual controller for solving the stabilization problem of a mobile robot is presented, applying the integration of adaptive control, sliding-mode control, and neural dynamics. In the first stage, an adaptive kinematic stabilization controller utilized to generate the command of velocity is developed based on Lyapunov theory. In the second stage, adopting the sliding-mode control approach, a dynamic controller with a variable speed function used to reduce the chattering is designed, which is utilized to generate the command of torque to make the actual velocity of the mobile robot asymptotically reach the desired velocity. Furthermore, to handle the speed and torque jump problems, the neural dynamics model is integrated into the above mentioned controllers. The stability of the proposed control system is analyzed by using Lyapunov theory. Finally, the simulation of the control law is implemented in perturbed case, and the results show that the control scheme can solve the stabilization problem effectively. The proposed control law can solve the speed and torque jump problems, overcome external disturbances, and provide a new solution for the vision-based stabilization of the mobile robot.

This is a preview of subscription content, log in via an institution to check access.

Access this article

Log in via an institution

Price excludes VAT (USA)
Tax calculation will be finalised during checkout.

Instant access to the full article PDF.

Institutional subscriptions

Similar content being viewed by others

References

  1. LI Sheng, MA Guoliang, HU Weili. Time-varying adaptive stabilization of an uncertain nonholonomic mobile robot[J]. Robot, 2005, 27(1): 10–19.

    Google Scholar 

  2. WANG Qiangde, WEI Chunling. Robust adaptive control of nonholonomic systems with nonlinear parameterization[J]. Acta Automatica Sinica, 2007, 33(4): 399–403.

    MathSciNet  MATH  Google Scholar 

  3. YUAN Hongliang, QU Zhihua. Continuous time-varying pure feedback control for chained nonholonomic systems with exponential convergent rate[C]//Proceedings of the 17th World Congress on International Federation of Automatic Control, Seoul, Korea, July, 2008: 15 203–15 208.

  4. BECERRA H M, LOPEZ-NICOLAS G, SAGUES C. A sliding-mode-control law for mobile robots based on epipolar visual servoing from three views[J]. IEEE Transactions on Robotics, 2011, 27(1): 175–183.

    Article  Google Scholar 

  5. FANG Yongchun, DIXON W E, DAWSON D M, et al. Homography-based visual servo regulation of mobile robots[J]. IEEE Transactions on Systems, Man, and Cybernetics-Part B: Cybernetics, 2005, 35(5): 1 041–1 050.

    Article  Google Scholar 

  6. BECERRA H M, SAGUES C. A novel 1D trifocal tensor-based control for differential-drive robots[C]//IEEE International Conference on Robotics and Automation, Kobe, Japan, May, 2009: 1 104–1 109.

  7. BECERRA H M, SAGUES C. Pose-estimation-based visual servoing for differential-drive robots using the 1D trifocal tensor[C]//IEEE/RSJ International Conference on Intelligent Robots and Systems, St. Louis, USA, October, 2009: 5 942–5 947.

  8. LOPEZ-NICOLAS G, GUERRERO J J, SAGUES C. Visual control through the trifocal tensor for nonholonomic robots[J]. Robotics and Autonomous Systems, 2010, 58(2): 216–226.

    Article  Google Scholar 

  9. ZHANG Xuebo, FANG Yongchun, LIU Xi. Motion-estimation-based visual servoing of nonholonomic mobile robots[J]. IEEE Transactions on Robotics, 2011, 27(6): 1 167–1 175.

    Article  Google Scholar 

  10. WANG Chaoli. Visual servoing feedback based robust regulation of nonholonomic wheeled mobile robots[C]//IEEE International Conference on Robotics and Automation, Shanghai, China, May, 2011: 6 174–6 179.

  11. WANG Zhongli, LIU Yunhui. Visual regulation of a nonholonomic wheeled mobile robot with two points using Lyapunov functions[C]//IEEE International Conference on Mechatronics and Automation, Xi’an, China, August, 2010: 1 603–1 608.

  12. YANG Fang, WANG Chaoli. Adaptive stabilization for uncertain nonholonomic dynamic mobile robots based on visual servoing feedback[J]. Acta Automatica Sinica, 2011, 37(7): 857–864.

    MathSciNet  MATH  Google Scholar 

  13. MARIOTTINI G L, ORIOLO G, PRATTICHIZZO D. Image-based visual servoing for nonholonomic mobile robots using epipolar geometry[J]. IEEE Transactions on Robotics, 2007, 23(1): 87–100.

    Article  Google Scholar 

  14. CHEN C Y, LI T H S, YEH Y C, et al. Design and implementation of an adaptive sliding-mode dynamic controller for wheeled mobile robots[J]. Mechatronics, 2009, 19(2): 156–166.

    Article  Google Scholar 

  15. YANG Haowen, YANG S X, MITTAL G S. Tracking control of a nonholonomic mobile robot by integrating feedback and neural dynamics techniques[C]//Proceedings of IEEE/RSJ International Conference on Intelligent Robots and Systems, Las Vegas, USA, October, 2003: 3 522–3 527.

Download references

Author information

Authors and Affiliations

  1. College of Information Science and Technology, Beijing University of Chemical Technology, Beijing, 100029, China

    Zhengcai Cao & Longjie Yin

  2. The State Key Laboratory of Robotics and Systems, Harbin Institute of Technology, Harbin, 150001, China

    Zhengcai Cao, Longjie Yin & Yili Fu

Authors
  1. Zhengcai Cao
    View author publications

    You can also search for this author in PubMed Google Scholar

  2. Longjie Yin
    View author publications

    You can also search for this author in PubMed Google Scholar

  3. Yili Fu
    View author publications

    You can also search for this author in PubMed Google Scholar

Corresponding author

Correspondence to Zhengcai Cao.

Additional information

This project is supported by National Key Basic Research and Development Program of China (973 Program, Grant No. 2009CB320602), National Natural Science Foundation of China (Grant Nos. 60834004, 61025018), National Science and Technology Major Project of China (Grant No. 2011ZX02504-008), Fundamental Research Funds for the Central Universities of China (Grant No. ZZ1222), and Key Laboratory of Advanced Engineering Surveying of NASMG of China (Grant No. TJES1106)

CAO Zhengcai, born in 1974, is currently a professor at Beijing University of Chemical Technology, China. He received his PhD degree from Harbin Institute of Technology, China, in 2005. His major research interests sensor technique, intelligent control of robot.

YIN Longjie, born in 1988, is currently a master candidate at Beijing University of Chemical Technology, China. His major research interests intelligent control of robot.

FU Yili, born in 1966, is currently a professor at Harbin Institute of Technology, China. He received his PhD degree from Harbin Institute of Technology, China, in 1996. His research interest covers autonomous robot control, medical robotics and virtual reality.

Rights and permissions

Reprints and permissions

About this article

Cite this article

Cao, Z., Yin, L. & Fu, Y. Vision-based stabilization of nonholonomic mobile robots by integrating sliding-mode control and adaptive approach. Chin. J. Mech. Eng. 26, 21–28 (2013). https://doi.org/10.3901/CJME.2013.01.021

Download citation

  • Received:

  • Revised:

  • Accepted:

  • Published:

  • Issue Date:

  • DOI: https://doi.org/10.3901/CJME.2013.01.021

Key words

Search

Navigation