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

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

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.

Keywords

Visual feedback Nonholonomic mobile robots Model-free Robust tracking 
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Notes

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).

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Copyright information

© Springer Science+Business Media Singapore 2016

Authors and Affiliations

  1. 1.Mathematics and Physics DepartmentHohai UniversityChangzhouChina
  2. 2.College of Mechanical and EngineeringHohai UniversityChangzhouChina
  3. 3.School of Science, Ningbo University of TechnologyNingboChina

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