Development of an Adaptive Fuzzy Logic Based Control Law for a Mobile Robot with an Uncalibrated Camera System

  • T. Das
  • I. N. Kar
Conference paper
Part of the Lecture Notes in Computer Science book series (LNCS, volume 3776)


In this paper, a new adaptive fuzzy controller is proposed for trajectory tracking of wheeled mobile robots by visual servoing. The control algorithm is developed so that it can take care of parametric uncertainty associated with the vision system and the mobile robot dynamics. The system uncertainty associated with nonlinear robot dynamics is estimated by an adaptive fuzzy logic system (FLS) and the uncertain camera parameters are updated online. The controller is designed based on Lyapunov stability theory. Simulation results are presented to illustrate the performance of the proposed controller.


Mobile Robot Trajectory Tracking Reference Trajectory Fuzzy Logic System Visual Servoing 
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Copyright information

© Springer-Verlag Berlin Heidelberg 2005

Authors and Affiliations

  • T. Das
    • 1
  • I. N. Kar
    • 1
  1. 1.Department of Electrical EngineeringIndian Institute of Technology, DelhiNew DelhiIndia

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