Adaptive tracking control for dynamic nonholonomic mobile robots with uncalibrated visual parameters

摘要

The trajectory tracking control problem of uncertain dynamic nonholonomic mobile robots is addressed in this paper. A novel uncertain camera-object visual servoing kinematic tracking error model is proposed firstly. And then, on the basis of this model, a new adaptive torque tracking controller is presented in the presence of parametric uncertainties associated with the camera system and mechanical dynamic system. The controller synthesis is based on Lyapunov's direct method and backstepping technique. Simulation results are provided to illustrate the performance of the control law.