By Topic

Dynamic Feedback Robust Regulation of nonholonomic mobile robots based on visual servoing

Sign In

Cookies must be enabled to login.After enabling cookies , please use refresh or reload or ctrl+f5 on the browser for the login options.

Formats Non-Member Member
$31 $13
Learn how you can qualify for the best price for this item!
Become an IEEE Member or Subscribe to
IEEE Xplore for exclusive pricing!
close button

puzzle piece

IEEE membership options for an individual and IEEE Xplore subscriptions for an organization offer the most affordable access to essential journal articles, conference papers, standards, eBooks, and eLearning courses.

Learn more about:

IEEE membership

IEEE Xplore subscriptions

3 Author(s)
Chaoli Wang ; Control Sci. & Eng. Dept., Univ. of Shanghai for Sci. & Technol., Shanghai, China ; Zhenying Liang ; Yunhui Liu

This paper investigated the visual servoing regulation of nonholonomic mobile robots. Nonholonomic kinematic systems with visual feedback are uncertain and more involved in comparison with common nonholonomic systems. Two-step techniques were exploited to craft a robust controller that enables the mobile robot image pose and the orientation regulation despite the lack of depth information and the lack of precise visual parameters. The most interesting feature of this paper is that the problem is discussed in the image frame and the inertial frame, which made the problem easy and useful. The dynamic Feedback Robust Regulation of the system by using the proposed method was rigorously proved. The simulation was given to show the effectiveness of the presented controllers.

Published in:

Decision and Control, 2009 held jointly with the 2009 28th Chinese Control Conference. CDC/CCC 2009. Proceedings of the 48th IEEE Conference on

Date of Conference:

15-18 Dec. 2009