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Adaptive dynamic surface control for vision-based stabilization of an uncertain electrically driven nonholonomic mobile robot

Published online by Cambridge University Press:  10 July 2014

Zhengcai Cao ,
Longjie Yin ,
Yili Fu  and
Jian S Dai
Zhengcai Cao*
Affiliation:
College of Information Science and Technology, Beijing University of Chemical Technology, Beijing 100029, China State Key Laboratory of Robotics and System, Harbin Institute of Technology, Harbin 150080, China
Longjie Yin
Affiliation:
College of Information Science and Technology, Beijing University of Chemical Technology, Beijing 100029, China State Key Laboratory of Robotics and System, Harbin Institute of Technology, Harbin 150080, China
Yili Fu
Affiliation:
State Key Laboratory of Robotics and System, Harbin Institute of Technology, Harbin 150080, China
Jian S Dai
Affiliation:
Centre for Robotics Research, King's College London, London WC2R 2LS, UK
*
*Corresponding author. E-mail: [email protected]
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Summary

This paper investigates the vision-based pose stabilization of an electrically driven nonholonomic mobile robot with parametric uncertainties in robot kinematics, robot dynamics, and actuator dynamics. A robust adaptive visual stabilizing controller is proposed with the utilization of adaptive control, backstepping, and dynamic surface control techniques. For the controller design, the idea of backstepping is used and the adaptive control approach is adopted to deal with all uncertainties. We also apply the dynamic surface control method to avoid the repeated differentiations of virtual controllers existing in the backstepping design procedure such that the control development is easier to be implemented. Moreover, to attenuate the effect of disturbances on control performance, smooth robust compensators are exploited. It is proved that all signals in the closed-loop system can be guaranteed to be uniformly ultimately bounded. Finally, simulation results are presented to illustrate the performance of the proposed controller.

Keywords

Actuator dynamicsAdaptive controlDynamic surface controlVision-based stabilizationNonholonomic mobile robot
Type
Articles
Information
Robotica , Volume 34 , Issue 2 , February 2016 , pp. 449 - 467
Copyright
Copyright © Cambridge University Press 2014 

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