Hostname: page-component-788cddb947-kc5xb Total loading time: 0 Render date: 2024-10-13T01:41:00.709Z Has data issue: false hasContentIssue false

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*
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: giftczc@163.com

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.

Type
Articles
Copyright
Copyright © Cambridge University Press 2014 

Access options

Get access to the full version of this content by using one of the access options below. (Log in options will check for institutional or personal access. Content may require purchase if you do not have access.)

References

1.Mariottini, G. L., Prattichizzo, D. and Oriolo, G., “Epipole-based visual servoing for nonholonomic mobile robots,” In: Proceedings of the IEEE International Conference on Robotic Automation, New Orleans, LA, United States (Apr. 26–May 1, 2004) pp. 497503.Google Scholar
2.Mariottini, G. L., Oriolo, G. and Prattichizzo, D., “Image-based visual servoing for nonholonomic mobile robots using epipolar geometry,” IEEE Trans. Robot. 23 (1), 87100 (Feb. 2007).CrossRefGoogle Scholar
3.Becerra, H. M. and Sagues, C., “A sliding-mode-control law for mobile robots based on epipolar visual servoing from three views,” IEEE Trans. Robot. 27 (1), 175183 (Feb. 2011).CrossRefGoogle Scholar
4.Fang, Y., Dixon, W. E., Dawson, D. M. and Chawda, P., “Homography-based visual servo regulation of mobile robots,” IEEE Trans. Syst. Man Cybern. B 35 (5), 10411050 (Oct. 2005).CrossRefGoogle Scholar
5.Lopez-Nicolas, G., Sagues, C. and Guerrero, J. J., “Homography-based visual control of nonholonomic vehicles,” In: Proceedings of the IEEE International Conference on Robotic Automation, Roma, Italy (Apr. 10–14, 2007) pp. 17031708.CrossRefGoogle Scholar
6.Lopez-Nicolas, G., Guerrero, J. J. and Sagues, C., “Visual control of vehicles using two-view geometry,” Mechatronics 20 (2), 315325 (Mar. 2010).CrossRefGoogle Scholar
7.Becerra, H. M. and Sagues, C., “A novel 1D trifocal tensor-based control for differential-drive robots,” In: Proceedings of the IEEE International Conference on Robotic Automation, Kobe, Japan (May 12–17, 2009) pp. 11041109.CrossRefGoogle Scholar
8.Lopez-Nicolas, G., Guerrero, J. J. and Sagues, C., “Visual control through the trifocal tensor for nonholonomic robots,” Robot. Autom. Syst. 58 (2), 216226 (Feb. 2010).CrossRefGoogle Scholar
9.Zhang, X., Fang, Y. and Liu, X., “Motion-estimation-based visual servoing of nonholonomic mobile robots,” IEEE Trans. Robot. 27 (6), 11671175 (Dec. 2011).CrossRefGoogle Scholar
10.Wang, C., “Visual servoing feedback-based robust regulation of nonholonomic wheeled mobile robots,” In: Proceedings of the IEEE International Conference on Robotic Automation, Shanghai, China (May 9–13, 2011) pp. 61746179.Google Scholar
11.Wang, Z. L. and Liu, Y. H., “Visual regulation of a nonholonomic wheeled mobile robot with two points using Lyapunov functions,” In: Proceedings of the IEEE International Conference on Mechatronics and Automation, Xi'an, China (Aug. 4–7, 2010) pp. 16031608.CrossRefGoogle Scholar
12.Yang, F. and Wang, C., “Adaptive stabilization for uncertain nonholonomic mobile robots based on visual servoing feedback,” Acta Autom. Sinica 37 (7), 857864 (July 2011).CrossRefGoogle Scholar
13.Li, Z., Ge, S. S., Adams, M. and Wijesoma, W. S., “Adaptive robust output-feedback motion/force control of electrically driven nonholonomic mobile manipulators,” IEEE Trans. Control Syst. Technol. 16 (16), 13081315 (Nov. 2008).CrossRefGoogle Scholar
14.Park, B. S., Yoo, S. J., Park, J. B. and Choi, Y. H., “A simple adaptive control approach for trajectory tracking of electrically driven nonholonomic mobile robots,” IEEE Trans. Control Syst. Technol. 18 (5), 11991206 (Sep. 2010).CrossRefGoogle Scholar
15.Shojaei, K., Shahri, A. M., Tarakameh, A. and Tabibian, B., “Adaptive trajectory tracking control of a differential drive wheeled mobile robot,” Robotica 29 (3)391402 (May 2011).CrossRefGoogle Scholar
16.Hou, Z., Zou, A., Cheng, L. and Tan, M., “Adaptive control of an electrically driven nonholonomic mobile robot via backstepping and fuzzy approach,” IEEE Trans. Control Syst. Technol. 17 (4)803815 (July 2009).CrossRefGoogle Scholar
17.Swaroop, D., Hedrick, J. K., Yip, P. P. and Gerdes, J. C., “Dynamic surface control for a class of nonlinear systems,” IEEE Trans. Autom. Control 45 (10), 18931899 (Oct. 2000).CrossRefGoogle Scholar
18.Fukao, T., Nakagawa, H. and Adachi, N., “Adaptive control of a nonholonomic mobile robot,” IEEE Trans. Robot. Autom. 16 (5), 609615 (Oct. 2000).CrossRefGoogle Scholar