Adaptive tracking control for uncertain dynamic nonholonomic mobile robots based on visual servoing-基于视觉伺服的不确定动态非完整移动机器人自适应跟踪控制.pdfVIP

JControl 2012 TheoryAppl 10(1)56--63 DOI10．1007／sl1768．012—0075．1 controlforuncertain Adaptivetracking dynamic robots onvisual nonholonomicmobile based ● servolng 3 YANG WANG Fang 1,2，Chaoli 1．Business of forScienceand Sch001．UniversityShanghai Technology,Shanghai200093，China； 315211，China； 2．SchoolofScience．NingboUniversityofTechnology,NingboZhejiang 3．ControlScienceand of forScienceand 200093。China EngineeringDepartment,UniversityShanghai Technology,Shanghai Abstract：The control of nonholonomicwheeledmobilerobotsisconsideredvia trajectorytrackingproblemdynamic visual feedback．Akinematiccontrolleris forthekinematicmodeLandthen。an servoing firstlypresented adaptivesliding mode for modelinthe of uncertaintiesassociatedwith controlleris theuncertain designed dynamic presenceparametric tostructureduncertaintiessuchasmass also thecamera controllerisrobustnot variationbut system．Theproposed only tounstructuredonesuchasdisturbances．The of er