Robust visual servoing for mobile robots with the VFO-ADRC system

Uncertain extrinsic and intrinsic parameters of an on-board camera used for visual servoing of a mobile robot may cause an unacceptable control performance. By application of the Vector-Field-Orientation (VFO) control design approach we propose a nominal VFO control law, extended next with a complementary Active Disturbance Rejection Control (ADRC) loop, for robust set-point control of mobile robots in a camera-image space. We show that the VFO-ARDC system can be made robust even to large parametric uncertainties of the servoing model, by verifying both the convergence robustness and performance robustness of the resultant closed-loop system. Formal considerations are supported by simulation results.