Robust Practical Stabilization of Nonholonomic Mobile Robots Based on Visual Servoing Feedback with Inputs Saturation

2013 ◽  
Vol 16 (3) ◽  
pp. 692-702 ◽  
Author(s):  
Hua Chen ◽  
Chaoli Wang ◽  
Zhenying Liang ◽  
Dongkai Zhang ◽  
Hengjun Zhang
Keyword(s):  
Mobile Robots ◽  
Visual Servoing ◽  
Nonholonomic Mobile Robots ◽  
Practical Stabilization

scholarly journals Practical Stabilization of Uncertain Nonholonomic Mobile Robots Based on Visual Servoing Model with Uncalibrated Camera Parameters

2013 ◽  
Vol 2013 ◽  
pp. 1-9 ◽  
Author(s):  
Hua Chen ◽  
Bingyan Chen ◽  
Baojun Li ◽  
Jinbo Zhang
Keyword(s):  
Mobile Robots ◽  
Visual Servoing ◽  
Kinematic Model ◽  
Small Neighborhood ◽  
Angle Measurement ◽  
Control Technique ◽  
Stabilization Problem ◽  
Nonholonomic Mobile Robots ◽  
Camera System ◽  
Practical Stabilization

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 input transformation, 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.

Intelligent visual servoing for nonholonomic mobile robots

2014 ◽  
Author(s):  
Carlos Lopez-Franco ◽  
Michel Lopez-Franco ◽  
Edgar N. Sanchez ◽  
Alma Y. Alanis
Keyword(s):  
Mobile Robots ◽  
Visual Servoing ◽  
Nonholonomic Mobile Robots
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