| The control and motion planning of nonholonomic mobile robots have been an active field in the control community in recent years.This kind of system is constrained by the nonholonomic non-slipping and pure rolling conditions.So some efficient methods of nonlinear control is not fit to these systems any more.These conditions make the control of nonholonomic system very difficult.This paper considers the tracking control problem of(1,2)nonholonomic mobile robots with uncertain camera parameters.This paper first describes the background and significance of the nonholonomic mobile robots,the concept and control of nonholonomic system.Then,the kinematics and dynamics model of the nonholonomic mobile robot and the uncertain nonholonomic mobile robot based on visual servo are introduced.The control principle and control method are briefly described.The adaptive control method and backstepping control method are introduced.At last,the tracking control problem of(1,2)nonholonomic mobile robots with uncertain camera parameters is addressed based the chained standard form.Firstly,a kinematic tracking error model is introduced.Based on this model,a tracking controller is presented.Then,a dynamic adaptive torque controller is designed for the chain system with uncertain visual parameters,which makes the tracking error close to zero.The stability of the entire closed-loop system is proved by the Lyapunov method.Simulation are provided to illustrate the performance of the control law.In addition,a visual servo tracking controller is introduced in this paper for a monocular camera system mounted on an underactuated wheeled mobile robot(WMR)subject to nonholonomic motion constraints.There are two innovations in this article.Firstly,a uncertain kinematic tracking error model is introduced.Based on this model,a dynamic tracking controller is presented.Secondly,a adaptive torque controller is designed for the dynamic system,which makes the tracking error close to zero. |
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