A Sliding-Mode-Control Law for Mobile Robots Based on Epipolar Visual Servoing From Three Views

Becerra, Héctor M.; López‐Nicolás, Gonzalo; Sagüés, Carlos

doi:10.1109/tro.2010.2091750

Cited by 81 publications

(39 citation statements)

References 21 publications

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“…Step 3: Consider the actuator dynamics (3). To obtain the actual control input u = (u 1 , u 2 ) T , the third dynamic surface S 2 = (S 21 , S 22 ) T is defined as…”

Section: Controller Designmentioning

confidence: 99%

Adaptive dynamic surface control for vision-based stabilization of an uncertain electrically driven nonholonomic mobile robot

Cao

Yin

et al. 2014

Robotica

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dynamic surface control for vision-based stabilization of an uncertain electrically driven nonholonomic mobile robot . Robotica, SUMMARYThis paper investigates the vision-based pose stabilization of an electrically driven nonholonomic mobile robot with parametric uncertainties in robot kinematics, robot dynamics, and actuator dynamics. A robust adaptive visual stabilizing controller is proposed with the utilization of adaptive control, backstepping, and dynamic surface control techniques. For the controller design, the idea of backstepping is used and the adaptive control approach is adopted to deal with all uncertainties. We also apply the dynamic surface control method to avoid the repeated differentiations of virtual controllers existing in the backstepping design procedure such that the control development is easier to be implemented. Moreover, to attenuate the effect of disturbances on control performance, smooth robust compensators are exploited. It is proved that all signals in the closed-loop system can be guaranteed to be uniformly ultimately bounded. Finally, simulation results are presented to illustrate the performance of the proposed controller.

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“…Step 3: Consider the actuator dynamics (3). To obtain the actual control input u = (u 1 , u 2 ) T , the third dynamic surface S 2 = (S 21 , S 22 ) T is defined as…”

Section: Controller Designmentioning

confidence: 99%

Adaptive dynamic surface control for vision-based stabilization of an uncertain electrically driven nonholonomic mobile robot

Cao

Yin

et al. 2014

Robotica

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“…Further, [17] used a sliding-mode control law to exploit the epipolar geometry; [18] directly calculates the homographies from raw images and so on. The comparison with these works is not considered in this report, since the basic strategies and premises are significantly different.…”

Section: Related Workmentioning

confidence: 99%

Scale-only visual homing from an omnidirectional camera

Liu

Pradalier

Pomerleau

et al. 2012

2012 IEEE International Conference on Robotics and Automation

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Abstract-Visual Homing is the process by which a mobile robot moves to a Home position using only information extracted from visual data. The approach we present in this paper uses image keypoints (e.g. SIFT) extracted from omnidirectional images and matches the current set of keypoints with the set recorded at the Home location. In this paper, we first formulate three different visual homing problems using uncalibrated omnidirectional camera within the Image Based Visual Servoing (IBVS) framework; then we propose a novel simplified homing approach, which is inspired by IBVS, based only on the scale information of the SIFT features, with its computational cost linear to the number of features.This paper reports on the application of our method on a commonly cited indoor database where it outperforms other approaches. We also briefly present results on a real robot and allude on the integration into a topological navigation framework.

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“…In recent years, due to the fact that wheeled mobile robots (WMRs) are widely applied and increasingly popular, a lot of the effort of researchers in the world has been spent to solve the tracking control problems of WMRs by using various control techniques such as sliding mode control [1], adaptive control [2], and backstepping control [3,4]. All these works have been performed with an assumption that WMRs move on the floor without wheel slips.…”

Section: Introductionmentioning

confidence: 99%

Neural network-based adaptive tracking control for a nonholonomic wheeled mobile robot with unknown wheel slips, model uncertainties, and unknown bounded disturbances

Nguyen¹,

Liu²

2018

Turk J Elec Eng & Comp Sci

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Abstract:In this paper, an adaptive tracking controller based on a three-layer neural network (NN) with an online weight tuning algorithm is proposed for a nonholonomic wheeled mobile robot in the presence of unknown wheel slips, model uncertainties, and unknown bounded disturbances. The online weight tuning algorithm is modified from the backpropagation with an e -modification term required to assure that the NN weights are bounded. Preliminary neural network offline training is not essential for the weights. Thanks to this proposed controller, the desired tracking performance is achieved where position tracking errors converge to an arbitrarily small neighborhood of the origin regardless of their initial values. According to Lyapunov theory and LaSalle extension, the stability of the whole closedloop system is ensured to obtain the desired tracking performance. Computer simulations are implemented to certify the validity of the proposed controller.

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A Sliding-Mode-Control Law for Mobile Robots Based on Epipolar Visual Servoing From Three Views

Cited by 81 publications

References 21 publications

Adaptive dynamic surface control for vision-based stabilization of an uncertain electrically driven nonholonomic mobile robot

Adaptive dynamic surface control for vision-based stabilization of an uncertain electrically driven nonholonomic mobile robot

Scale-only visual homing from an omnidirectional camera

Neural network-based adaptive tracking control for a nonholonomic wheeled mobile robot with unknown wheel slips, model uncertainties, and unknown bounded disturbances

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