Adaptive Dynamic Tracking Control for Uncertain Nonholonomic Mobile Robots Based on Visual Servoing

摘要

The tracking control of wheeled dynamic mobile robots via visual servoing feedback is considered. A kinematic controller is firstly presented for the kinematic model, and then, an adaptive torque tracking controller is designed for the uncertainty dynamic model in the presence of parametric uncertainty associated with the camera system. The asymptotic convergence of tracking errors to zero is rigorously proved by the Lyapunov method. Simulation results are provided to illustrate the performance of the control law.