Adaptive Dynamic Feedback Tracking Control for a Robot-camera System with Unknown Parameters
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Abstract: The tracking problem of nonholonomic mobile robots with uncertainties is investigated in this paper.An uncertain model of the nonholonomic kinematic system is presented based on the visual feedback and the state and input transformations for a kind of mobile robots in chained form with uncertainties.Two transformations are exploited based on the idea of backstepping and the structure of tracking error system.Then, both an adaptive control law and a dynamic feedback robust controller are designed to track the desired trajectory by using Lyapunov direct method and the extended Barbalat Lemma.The asymptotic convergence of a closed-loop error system is proved rigorously.Finally, simulation results demonstrate the effectiveness of the proposed strategies.
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Key words:
- Adaptive control /
- chained system /
- feedback /
- mobile robot /
- tracking control
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Fig. 9 The tracking error trajectories for ${{e}_{{{x}_{m}}}},{{e}_{{{y}_{m}}}}$ and $e_{\theta_{m}}$ in the image frame for Case 1
Fig. 10 The tracking error trajectories for ${{e}_{x}},{{e}_{y}}$ and $e_{\theta}$ in the robot task-space for Case 1
Fig. 13 The tracking error trajectories for ${{e}_{x}},{{e}_{y}}$ and $e_{\theta}$ in the robot task-space for Case 2
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