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Adaptive stabilization for uncertain nonholonomic dynamic mobile robots based on visual servoing feedback. (English) Zbl 1265.68295
Summary: The stabilization problem of nonholonomic dynamic mobile robots with a fixed (ceiling-mounted) camera is addressed in this paper. First, a kinematic model of the camera-object visual servoing is introduced by using a 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 the dynamic mobile robot in the presence of parametric uncertainties associated with the camera system. The proposed controller is robust not only to structural uncertainty such as mass variation but also to non-structural ones such as disturbances. The stability of the proposed control system and the boundedness of the estimated parameters are rigorously proved by using the Lyapunov method. Simulation results are presented to illustrate the performance of the control law.

MSC:
68T40Robotics (AI aspects)
93C40Adaptive control systems
93C85Automated control systems (robots, etc.)
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