VFO controller for set-point visual servoing of unicycle-like mobile robots equipped with a camera of an uncertain depth scale factor

2019 ◽  
Author(s):  
Maciej Marcin Michalek ◽  
Runhua Wang ◽  
Xuebo Zhang
Keyword(s):  
Mobile Robots ◽  
Visual Servoing ◽  
Scale Factor ◽  
Set Point ◽  
Depth Scale

Visual servoing of dynamic wheeled mobile robots with anti-interference finite-time controllers

2018 ◽  
Vol 38 (5) ◽  
pp. 558-567 ◽  
Author(s):  
Hua Chen ◽  
Lei Chen ◽  
Qian Zhang ◽  
Fei Tong
Keyword(s):  
Mobile Robots ◽  
Finite Time ◽  
Visual Servoing ◽  
Control Method ◽  
External Disturbance ◽  
Nonholonomic Systems ◽  
Stability Control ◽  
Interference Control ◽  
Wheeled Mobile Robots ◽  
Content Type

Purpose The finite-time visual servoing control problem is considered for dynamic wheeled mobile robots (WMRs) with unknown control direction and external disturbance. Design/methodology/approach By using finite-time control method and switching design technique. Findings First, the visual servoing kinematic WMR model is developed, which can be converted to the dynamic chained-form systems by using a state and input feedback transformation. Then, for two decoupled subsystems of the chained-form systems, according to the finite-time stability control theory, a discontinuous three-step switching control strategy is proposed in the presence of uncertain control coefficients and external disturbance. Originality/value A class of discontinuous anti-interference control method has been presented for the dynamic nonholonomic systems.

Model-Free Unified Tracking and Regulation Visual Servoing of Wheeled Mobile Robots

2016 ◽  
Vol 24 (4) ◽  
pp. 1328-1339 ◽  
Author(s):  
Baoquan Li ◽  
Yongchun Fang ◽  
Guoqiang Hu ◽  
Xuebo Zhang
Keyword(s):  
Mobile Robots ◽  
Visual Servoing ◽  
Wheeled Mobile Robots ◽  
Model Free
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