Practical Stabilization of Uncertain Nonholonomic Mobile Robots Based on Visual Servoing Model with Uncalibrated Camera Parameters
The practical stabilization problem is addressed for a class of uncertain nonholonomic mobile robots with uncalibrated visual parameters. Based on the visual servoing kinematic model, a new switching controller is presented in the presence of parametric uncertainties associated with the camera syste...
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Series: | Mathematical Problems in Engineering |
Online Access: | http://dx.doi.org/10.1155/2013/395410 |
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doaj-f49f59c7966e4d27bb9641990cf165392020-11-24T23:19:40ZengHindawi LimitedMathematical Problems in Engineering1024-123X1563-51472013-01-01201310.1155/2013/395410395410Practical Stabilization of Uncertain Nonholonomic Mobile Robots Based on Visual Servoing Model with Uncalibrated Camera ParametersHua Chen0Bingyan Chen1Baojun Li2Jinbo Zhang3Mathematics and Physics Department, Hohai University, Changzhou Campus, Jiangsu, Changzhou 213022, ChinaMathematics and Physics Department, Hohai University, Changzhou Campus, Jiangsu, Changzhou 213022, ChinaMathematics and Physics Department, Hohai University, Changzhou Campus, Jiangsu, Changzhou 213022, ChinaJiangsu Key Laboratory of Power Transmission and Distribution Equipment Technology, Hohai University, Changzhou Campus, Jiangsu, Changzhou 213022, ChinaThe practical stabilization problem is addressed for a class of uncertain nonholonomic mobile robots with uncalibrated visual parameters. Based on the visual servoing kinematic model, a new switching controller is presented in the presence of parametric uncertainties associated with the camera system. In comparison with existing methods, the new design method is directly used to control the original system without any state or input transformation, which is effective to avoid singularity. Under the proposed control law, it is rigorously proved that all the states of closed-loop system can be stabilized to a prescribed arbitrarily small neighborhood of the zero equilibrium point. Furthermore, this switching control technique can be applied to solve the practical stabilization problem of a kind of mobile robots with uncertain parameters (and angle measurement disturbance) which appeared in some literatures such as Morin et al. (1998), Hespanha et al. (1999), Jiang (2000), and Hong et al. (2005). Finally, the simulation results show the effectiveness of the proposed controller design approach.http://dx.doi.org/10.1155/2013/395410 |
collection |
DOAJ |
language |
English |
format |
Article |
sources |
DOAJ |
author |
Hua Chen Bingyan Chen Baojun Li Jinbo Zhang |
spellingShingle |
Hua Chen Bingyan Chen Baojun Li Jinbo Zhang Practical Stabilization of Uncertain Nonholonomic Mobile Robots Based on Visual Servoing Model with Uncalibrated Camera Parameters Mathematical Problems in Engineering |
author_facet |
Hua Chen Bingyan Chen Baojun Li Jinbo Zhang |
author_sort |
Hua Chen |
title |
Practical Stabilization of Uncertain Nonholonomic Mobile Robots Based on Visual Servoing Model with Uncalibrated Camera Parameters |
title_short |
Practical Stabilization of Uncertain Nonholonomic Mobile Robots Based on Visual Servoing Model with Uncalibrated Camera Parameters |
title_full |
Practical Stabilization of Uncertain Nonholonomic Mobile Robots Based on Visual Servoing Model with Uncalibrated Camera Parameters |
title_fullStr |
Practical Stabilization of Uncertain Nonholonomic Mobile Robots Based on Visual Servoing Model with Uncalibrated Camera Parameters |
title_full_unstemmed |
Practical Stabilization of Uncertain Nonholonomic Mobile Robots Based on Visual Servoing Model with Uncalibrated Camera Parameters |
title_sort |
practical stabilization of uncertain nonholonomic mobile robots based on visual servoing model with uncalibrated camera parameters |
publisher |
Hindawi Limited |
series |
Mathematical Problems in Engineering |
issn |
1024-123X 1563-5147 |
publishDate |
2013-01-01 |
description |
The practical stabilization problem is addressed for a class of uncertain nonholonomic mobile robots with uncalibrated visual parameters. Based on the visual servoing kinematic model, a new switching controller is presented in the presence of parametric uncertainties associated with the camera system. In comparison with existing methods, the new design method is directly used to control the original system without any state or input transformation, which is effective to avoid singularity. Under the proposed control law, it is rigorously proved that all the states of closed-loop system can be stabilized to a prescribed arbitrarily small neighborhood of the zero equilibrium point. Furthermore, this switching control technique can be applied to solve the practical stabilization problem of a kind of mobile robots with uncertain parameters (and angle measurement disturbance) which appeared in some literatures such as Morin et al. (1998), Hespanha et al. (1999), Jiang (2000), and Hong et al. (2005). Finally, the simulation results show the effectiveness of the proposed controller design approach. |
url |
http://dx.doi.org/10.1155/2013/395410 |
work_keys_str_mv |
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1725577595976679424 |