Image-based Visual Tracking Adaptive Control for Mobile Robots
In this paper, we deal with the problem of image-based visual tracking for mobile robots. It is noted that the presence of actuator dynamics and the unknown target motion increases the complexity of the system model and makes the design of the controller more difficult. To solve this problem, we pro...
| Main Authors: | , , , |
|---|---|
| Other Authors: | |
| Format: | Conference Paper |
| Language: | English |
| Published: |
2017
|
| Subjects: | |
| Online Access: | https://hdl.handle.net/10356/82414 http://hdl.handle.net/10220/42307 |
| _version_ | 1824455688013742080 |
|---|---|
| author | Zou, Ying Wen, Changyun Shan, Mao Guan, Mingyang |
| author2 | School of Electrical and Electronic Engineering |
| author_facet | School of Electrical and Electronic Engineering Zou, Ying Wen, Changyun Shan, Mao Guan, Mingyang |
| author_sort | Zou, Ying |
| collection | NTU |
| description | In this paper, we deal with the problem of image-based visual tracking for mobile robots. It is noted that the presence of actuator dynamics and the unknown target motion increases the complexity of the system model and makes the design of the controller more difficult. To solve this problem, we propose an adaptive control approach via utilizing backstepping technique and extended state observer (ESO). For the controller design, the adaptive technique is employed to estimate the bound of the target motion and the adaptive law is derived from the Lyapunov stability theory. We also adopt two ESOs to estimate and compensate for the disturbances affecting the mobile robot dynamics and the wheel actuator dynamics. It is shown that the proposed adaptive controller guarantees the boundness of all the signals in the closed-loop system and enables the tracking errors to exponentially converge to a compact set which is adjustable. |
| first_indexed | 2025-02-19T03:42:11Z |
| format | Conference Paper |
| id | ntu-10356/82414 |
| institution | Nanyang Technological University |
| language | English |
| last_indexed | 2025-02-19T03:42:11Z |
| publishDate | 2017 |
| record_format | dspace |
| spelling | ntu-10356/824142020-03-07T13:24:44Z Image-based Visual Tracking Adaptive Control for Mobile Robots Zou, Ying Wen, Changyun Shan, Mao Guan, Mingyang School of Electrical and Electronic Engineering 2016 14th International Conference on Control, Automation, Robotics & Vision (ICARCV) wheels actuators In this paper, we deal with the problem of image-based visual tracking for mobile robots. It is noted that the presence of actuator dynamics and the unknown target motion increases the complexity of the system model and makes the design of the controller more difficult. To solve this problem, we propose an adaptive control approach via utilizing backstepping technique and extended state observer (ESO). For the controller design, the adaptive technique is employed to estimate the bound of the target motion and the adaptive law is derived from the Lyapunov stability theory. We also adopt two ESOs to estimate and compensate for the disturbances affecting the mobile robot dynamics and the wheel actuator dynamics. It is shown that the proposed adaptive controller guarantees the boundness of all the signals in the closed-loop system and enables the tracking errors to exponentially converge to a compact set which is adjustable. 2017-05-03T04:19:26Z 2019-12-06T14:55:08Z 2017-05-03T04:19:26Z 2019-12-06T14:55:08Z 2016-11-01 2016 Conference Paper Zou, Y., Wen, C., Shan, M., & Guan, M. (2016). Image-based visual tracking adaptive control for mobile robots. 2016 14th International Conference on Control, Automation, Robotics & Vision (ICARCV). https://hdl.handle.net/10356/82414 http://hdl.handle.net/10220/42307 10.1109/ICARCV.2016.7838831 198740 en © 2016 IEEE. |
| spellingShingle | wheels actuators Zou, Ying Wen, Changyun Shan, Mao Guan, Mingyang Image-based Visual Tracking Adaptive Control for Mobile Robots |
| title | Image-based Visual Tracking Adaptive Control for Mobile Robots |
| title_full | Image-based Visual Tracking Adaptive Control for Mobile Robots |
| title_fullStr | Image-based Visual Tracking Adaptive Control for Mobile Robots |
| title_full_unstemmed | Image-based Visual Tracking Adaptive Control for Mobile Robots |
| title_short | Image-based Visual Tracking Adaptive Control for Mobile Robots |
| title_sort | image based visual tracking adaptive control for mobile robots |
| topic | wheels actuators |
| url | https://hdl.handle.net/10356/82414 http://hdl.handle.net/10220/42307 |
| work_keys_str_mv | AT zouying imagebasedvisualtrackingadaptivecontrolformobilerobots AT wenchangyun imagebasedvisualtrackingadaptivecontrolformobilerobots AT shanmao imagebasedvisualtrackingadaptivecontrolformobilerobots AT guanmingyang imagebasedvisualtrackingadaptivecontrolformobilerobots |