Trajectory Tracking of Nonholonomic Mobile Robots via Discrete-Time Sliding Mode Controller Based on Uncalibrated Visual Servoing

A survey on visual servoing for wheeled mobile robots

“…For eye-to-hand visual servoing systems, Gao and Su (2009) propose an online estimation of image Jacobian matrix with time-delay compensation for uncalibrated visual servoing of mobile robots. On the basis of assuming that the motion plane is parallel to the camera plan for eye-tohand servoing system, an adaptive controller is developed by Dixon et al (2001) to compensate for uncertain camera and mechanical parameters, and Wang et al (2014a) design the discrete sliding mode controller for the servoing system with uncertain parameters to accomplish the visual tracking task. To relax the assumption of parallelism of the two planes, Liang et al (2015) construct a depth-independent image Jacobian matrix framework to linearize the unknown intrinsic and extrinsic parameters of the camera.…”

Improving Posture Accuracy of Non-Holonomic Mobile Robot System with Variable Universe of Discourse

“…Holonomic robot refers to the robot in which the amount of controllable inputs is similar to the controllable level of autonomy [1]. Meanwhile, the non-holonomic robot has restricted mobility due to lower amount of controllable inputs, thus posing a more pressing issue, when compared to that of holonomic robot [2]. Therefore, several methods have been suggested to obtain the best solutions for optimum performance in relation to control.…”

“…These models have their own limitation and complexity. Several researchers have looked into these issues and developed several controllers, including adaptive feedback [20], back stepping [21], feedback linearization [22], and sliding mode [23][24][25][26][27][28][29]. Sliding mode control and its features are the good options to compensate mobile robots under actuated system.…”