Adaptive Visually Servoed Tracking Control for Wheeled Mobile Robot with Uncertain Model Parameters in Complex Environment
Joint Authors
Ren, Bin
Yeow, John T. W.
Wang, Fujie
Qin, Yi
Guo, Fang
Source
Issue
Vol. 2020, Issue 2020 (31 Dec. 2020), pp.1-13, 13 p.
Publisher
Hindawi Publishing Corporation
Publication Date
2020-12-04
Country of Publication
Egypt
No. of Pages
13
Main Subjects
Abstract EN
This paper investigates the stabilization and trajectory tracking problem of wheeled mobile robot with a ceiling-mounted camera in complex environment.
First, an adaptive visual servoing controller is proposed based on the uncalibrated kinematic model due to the complex operation environment.
Then, an adaptive controller is derived to provide a solution of uncertain dynamic control for a wheeled mobile robot subject to parametric uncertainties.
Furthermore, the proposed controllers can be applied to a more general situation where the parallelism requirement between the image plane and operation plane is no more needed.
The overparameterization of regressor matrices is avoided by exploring the structure of the camera-robot system, and thus, the computational complexity of the controller can be simplified.
The Lyapunov method is employed to testify the stability of a closed-loop system.
Finally, simulation results are presented to demonstrate the performance of the suggested control.
American Psychological Association (APA)
Wang, Fujie& Qin, Yi& Guo, Fang& Ren, Bin& Yeow, John T. W.. 2020. Adaptive Visually Servoed Tracking Control for Wheeled Mobile Robot with Uncertain Model Parameters in Complex Environment. Complexity،Vol. 2020, no. 2020, pp.1-13.
https://search.emarefa.net/detail/BIM-1144776
Modern Language Association (MLA)
Wang, Fujie…[et al.]. Adaptive Visually Servoed Tracking Control for Wheeled Mobile Robot with Uncertain Model Parameters in Complex Environment. Complexity No. 2020 (2020), pp.1-13.
https://search.emarefa.net/detail/BIM-1144776
American Medical Association (AMA)
Wang, Fujie& Qin, Yi& Guo, Fang& Ren, Bin& Yeow, John T. W.. Adaptive Visually Servoed Tracking Control for Wheeled Mobile Robot with Uncertain Model Parameters in Complex Environment. Complexity. 2020. Vol. 2020, no. 2020, pp.1-13.
https://search.emarefa.net/detail/BIM-1144776
Data Type
Journal Articles
Language
English
Notes
Includes bibliographical references
Record ID
BIM-1144776