Dynamic feedback robust stabilization of nonholonomic mobile robots based on visual servoing

被引：17

作者：

Wang C. ^{[1
]}

Liang Z. ^{[2
,3
]}

Jia Q. ^{[4
]}

机构：

[1] Department of Control Science and Engineering, University of Shanghai for Science and Technology

[2] Business School, University of Shanghai for Science and Technology

[3] School of Science, Shandong University of Technology

[4] Research and Development Centre, Hitachi Asia Ltd

来源：

Journal of Control Theory and Applications | 2010年 / 8卷 / 02期

基金：

中国国家自然科学基金;

关键词：

Dynamic feedback; Nonholonomic system; Stabilization; Uncalibrated visual parameters;

D O I：

10.1007/s11768-010-0003-1

中图分类号：

学科分类号：

摘要：

This paper investigates the visual servoing robust stabilization of nonholonomic mobile robots. The calibration of visual parameters is not only complicated, but also needs great consumption of calculated time so that the accurate calibration is impossible in some situations for high requirement of real timing. Hence, it is interesting and important to consider the design of stabilizing controllers for nonholonomic kinematic systems with uncalibrated visual parameters. A novel uncertain model of these nonholonomic kinematic systems is proposed. Based on this model, a stabilizing controller is discussed by using dynamic feedback and two-step techniques. The proposed robust controller makes the mobile robot image pose and the orientation converge to the desired configuration despite the lack of depth information and the lack of precise visual parameters. The stability of the closed loop system is rigorously proved. The simulation is given to show the effectiveness of the presented controllers. © South China University of Technology, Academy of Mathematics and Systems Science, Chinese Academy of Sciences and Springer-Verlag Berlin Heidelberg 2010.

引用

页码：139 / 144

页数：5

共 11 条

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