Practical Stabilization of Uncertain Nonholonomic Mobile Robots Based on Visual Servoing Model with Uncalibrated Camera Parameters
Joint Authors
Chen, Hua
Chen, Bingyan
Li, Baojun
Zhang, Jinbo
Source
Mathematical Problems in Engineering
Issue
Vol. 2013, Issue 2013 (31 Dec. 2013), pp.1-9, 9 p.
Publisher
Hindawi Publishing Corporation
Publication Date
2013-06-13
Country of Publication
Egypt
No. of Pages
9
Main Subjects
Abstract EN
The practical stabilization problem is addressed for a class of uncertain nonholonomic mobile robots with uncalibrated visual parameters.
Based on the visual servoing kinematic model, a new switching controller is presented in the presence of parametric uncertainties associated with the camera system.
In comparison with existing methods, the new design method is directly used to control the original system without any state or inputtransformation, which is effective to avoid singularity.
Under the proposed control law, it is rigorously proved that all the states of closed-loop system can be stabilized to a prescribed arbitrarily small neighborhood of the zero equilibrium point.
Furthermore, this switching control technique can be applied to solve the practical stabilization problem of a kind of mobile robots with uncertain parameters (and angle measurement disturbance) which appeared in some literatures such as Morin et al.
(1998), Hespanha et al.
(1999), Jiang (2000), and Hong et al.
(2005).
Finally, the simulation results show the effectiveness of the proposed controller design approach.
American Psychological Association (APA)
Chen, Hua& Chen, Bingyan& Li, Baojun& Zhang, Jinbo. 2013. Practical Stabilization of Uncertain Nonholonomic Mobile Robots Based on Visual Servoing Model with Uncalibrated Camera Parameters. Mathematical Problems in Engineering،Vol. 2013, no. 2013, pp.1-9.
https://search.emarefa.net/detail/BIM-1031851
Modern Language Association (MLA)
Chen, Hua…[et al.]. Practical Stabilization of Uncertain Nonholonomic Mobile Robots Based on Visual Servoing Model with Uncalibrated Camera Parameters. Mathematical Problems in Engineering No. 2013 (2013), pp.1-9.
https://search.emarefa.net/detail/BIM-1031851
American Medical Association (AMA)
Chen, Hua& Chen, Bingyan& Li, Baojun& Zhang, Jinbo. Practical Stabilization of Uncertain Nonholonomic Mobile Robots Based on Visual Servoing Model with Uncalibrated Camera Parameters. Mathematical Problems in Engineering. 2013. Vol. 2013, no. 2013, pp.1-9.
https://search.emarefa.net/detail/BIM-1031851
Data Type
Journal Articles
Language
English
Notes
Includes bibliographical references
Record ID
BIM-1031851