自动化学报2011，Vol.37Issue(7)：857-864,8.DOI:10.3724/SP.J.1004.2011.00857
Adaptive Stabilization for Uncertain Nonholonomic Dynamic Mobile Robots Based on Visual Servoing Feedback
Adaptive Stabilization for Uncertain Nonholonomic Dynamic Mobile Robots Based on Visual Servoing Feedback
摘要
Abstract
The stabilization problem of nonholonomic dynamic mobile robots with a fixed (ceiling-mounted) camera is addressed in this paper.First,a camera-object visual servding kinematic model is introduced by utilizing the pin-hole camera model and a kinematic stabilizing controller is given for the kinematic model.Then,an adaptive sliding mode controller is designed to stabilize uncertain dynamic mobile robot in the presence of parametric uncertainties associated with the camera system.The proposed controller is robust not only to structured uncertainty such as mass variation but also to unstructured one such as disturbances.The stability of the proposed control system and the boundedness of estimated parameters are rigorously proved by Lyapunov method.Simulation results are presented to illustrate the performance of the control law.关键词
Nonholonomic mobile robots (NMR.)/stabilization/adaptive control/visual servoingKey words
Nonholonomic mobile robots (NMR.)/stabilization/adaptive control/visual servoing引用本文复制引用
YANG Fang,WANG Chao-Li..Adaptive Stabilization for Uncertain Nonholonomic Dynamic Mobile Robots Based on Visual Servoing Feedback[J].自动化学报,2011,37(7):857-864,8.基金项目
Supported by National Natural Science Foundation of China 60874002),Key Project of Shanghai Education Committee (09ZZ158),Leading Academic Discipline Project of Shanghai Municipal Government (S30501) （09ZZ158）
