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Dynamic feedback tracking control of non-holonomic mobile robots with unknown camera parameters

¹ Control Science and Engineering Department, University of Shanghai for Science and Technology, Shanghai, People's Republic of China
² Business School, University of Shanghai for Science and Technology, Shanghai, People's Republic of China

^* To whom correspondence should be addressed. E-mail: clclwang{at}126.com.

	Abstract

In this paper we investigate the tracking control of non-holonomic mobile robots with uncertainties. Non-holonomic kinematic systems with visual feedback are uncertain and more involved in comparison with common kinematic systems. Barbalat's theorem and Lyapunov techniques are exploited to craft a dynamic feedback robust controller that enables tracking of the mobile robot configuration despite the lack of depth information and the lack of precise visual parameters. The most interesting feature of this paper is that the problem is discussed in the image frame and the inertial frame, which makes the problem easy and useful. The convergence of the error system by using the proposed method is proved rigorously. A simulation is given to show the effectiveness of the presented controllers.

First published on October 28, 2009
Transactions of the Institute of Measurement and Control 2009, doi:10.1177/0142331209339871


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