Adaptive tracking control of a wheeled mobile robot via anuncalibrated camera system

摘要

This paper considers the problem of position/orientation trackingncontrol of wheeled mobile robots via visual servoing in the presence ofnparametric uncertainty associated with the mechanical dynamics and thencamera system. Specifically, we design an adaptive controller thatncompensates for uncertain camera and mechanical parameters and ensuresnglobal asymptotic position/orientation tracking. Simulation andnexperimental results are included to illustrate the performance of thencontrol law