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Vision-based Stabilization of nonholonomic mobile robots by Integrating Sliding-mode Control and Adaptive Approach

Chinese Journal of Mechanical Engineering 2013年第1期26卷 21-28页

作者： CAO Zhengcai YIN Longjie FU Yili College of Information Science and Technology Beijing University of Chemical Technology The State Key Laboratory of Robotics and Systems Harbin Institute of Technology

Vision-based pose stabilization of nonholonomic mobile robots has received extensive attention. At present, most of the solutions of the problem do not take the robot dynamics into account in the controller design, so that these controllers are difficult to realize satisfactory control in practical application. Besides, many of the approaches suffer from the initial speed and torque jump which are not practical in the real world. Considering the kinematics and dynamics, a two-stage visual controller for solving the stabilization problem of a mobile robot is presented, applying the integration of adaptive control, sliding-mode control, and neural dynamics. In the first stage, an adaptive kinematic stabilization controller utilized to generate the command of velocity is developed based on Lyapunov theory. In the second stage, adopting the sliding-mode control approach, a dynamic controller with a variable speed function used to reduce the chattering is designed, which is utilized to generate the command of torque to make the actual velocity of the mobile robot asymptotically reach the desired velocity. Furthermore, to handle the speed and torque jump problems, the neural dynamics model is integrated into the above mentioned controllers. The stability of the proposed control system is analyzed by using Lyapunov theory. Finally, the simulation of the control law is implemented in perturbed case, and the results show that the control scheme can solve the stabilization problem effectively. The proposed control law can solve the speed and torque jump problems, overcome external disturbances, and provide a new solution for the vision-based stabilization of the mobile robot.

关键词： nonholonomic mobile robots vision-based stabilization sliding-mode control adaptive control neural dynamics

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Adaptive tracking control for uncertain dynamic nonholonomic mobile robots based on visual servoing

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控制理论与应用（英文版） 2012年第1期10卷 56-63页

作者： Fang YANG Chaoli WANG Business School University of Shanghai for Science and TechnologyShanghai 200093China School of Science Ningbo University of TechnologyNingbo Zhejiang 315211China Control Science and Engineering Department University of Shanghai for Science and TechnologyShanghai 200093China

The trajectory tracking control problem of dynamic nonholonomic wheeled mobile robots is considered via visual servoing feedback. A kinematic controller is firstly presented for the kinematic model, and then, an adaptive sliding mode controller is designed for the uncertain dynamic model in the presence of parametric uncertainties associated with the camera system. The proposed controller is robust not only to structured uncertainties such as mass variation but also to unstructured one such as disturbances. The asymptotic convergence of tracking errors to equilibrium point is rigorously proved by the Lyapunov method. Simulation results are provided to illustrate the performance of the control law.

关键词： nonholonomic mobile robots Dynamic Kinematic Tracking Visual servoing

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A 3D Reactive Collision Free Navigation Strategy for nonholonomic mobile robots

A 3D Reactive Collision Free Navigation Strategy for Nonholo...

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第37届中国控制会议

作者： Taha Elmokadem School of Electrical Engineering and Telecommunications University of New South Wales

The navigation of nonholonomic mobile robots in 3 D environments is a very challenging problem. This work develops a 3D reactive navigation strategy to ensure that a mobile robot can reach its destination safely avoiding obstacles. The proposed reactive strategy relies on sensed information about the obstacles which makes it suitable for applications including mobile robots in unknown environments. Furthermore, it can be ideal for robots with limited capabilities due to its low computational complexity. The performance of the proposed strategy is evaluated using computer simulations, and good results are obtained.

关键词： 3D Navigation Reactive Navigation Obstacle Avoidance nonholonomic mobile robots Coverage Control

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A TC-RRT-based Path Planning Algorithm for the nonholonomic mobile robots

A TC-RRT-based Path Planning Algorithm for the Nonholonomic ...

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第36届中国控制会议

作者： Xingguo Song Xu Fan Zhongqing Cao HongliGao Mechanical Engineering school Southwest Jiaotong University

ISBN: (纸本)9781538629185

In this paper,a triangle-curvature RRT-based path planning algorithm is proposed for the application of nonholonomic mobile robots in complex *** algorithm named triangle-curvature RRT（TC-RRT） considers both environmental constraints and vehicle *** triangular geometry is introduced into the RRT *** pruning function is applied in post-processing path to remove the needless nodes that the path length can be *** fixing angle intersection method is proposed to improve the turning path ***,the Cantmull-Rom interpolation is used to improve the path *** this paper,the TC-RRT algorithm is compared with the basic RRT algorithm and BI-RRT *** results of simulation show that the convergence rate of TC-RRT algorithm is faster than the other two,and the smooth path with the shortest distance can be produced which can also satisfy the nonholonomic constraint of mobile robots.

关键词： nonholonomic mobile robots rapidly-exploring random trees(RRT) local smooth path path planning

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Connectivity preserving design strategy for distributed adaptive cooperative control of networked uncertain nonholonomic mobile robots with unknown control directions

Connectivity preserving design strategy for distributed adap...

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第40届中国控制会议

作者： Yujing Xu Chaoli Wang Yang Jiang Department of Control Science and Engineering University of Shanghai for Science and Technology

This brief addresses a distributed adaptive asymptotically synchronous tracking problem based on guaranteed connectivity for networked uncertain nonholonomic mobile robots（NMRs） with unknown control directions. First, a radial basis function（RBF） neural network is used to approximate the unknown nonlinear functions, and a distributed nonlinear error surface is introduced to achieve synchronous tracking between NMRs and maintain the initial connectivity patterns. Then, a conditional inequality that allows multiple piecewise Nussbaum functions to achieve robust control is proposed to solve the problem of unknown control directions. Moreover, the proposed protocol ensures that all signals in the closed-loop system are globally bounded and the tracking errors converge asymptotically to zero. Finally, a simulation example verifies the effectiveness of the proposed adaptive laws.

关键词： Connectivity preservation Distributed synchronized tracking nonholonomic mobile robots Partially unknown control directions

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Robust Saturated Finite-time Stabilization for nonholonomic mobile robots Based on Visual Serving Feedback

Robust Saturated Finite-time Stabilization for Nonholonomic ...

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第24届中国控制与决策会议

作者： Hua Chen 1,2 , Chaoli Wang 1 , Dongkai Zhang 1 , Fang Yang 1 1. Control Science and Engineering Department, University of Shanghai for Science and Technology, Shanghai, 200093, P. R. China2. Mathematics and Physics Department, Hohai University, Changzhou Campus, 213022, P. R. China

In this paper, the robust saturated stabilization problem is considered for a class of nonholonomic mobile robots based on visual servoing feedback with uncalibrated camera parameters. In comparison with existing methods, the new design method is directly based on the original inputs of the original systems, i.e., the saturated practical inputs instead of the transformed inputs. A piecewise continuous and bounded control law is presented by applying the multi-step switch control strategy and the theory of finite-time stability. The controller can stabilize the nonholonomic robots to the equilibrium point in a finite time. Finally, the simulation results show the effectiveness of the proposed control approach.

关键词： nonholonomic mobile robots visual serving finite-time stabilization inputs saturation

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Semiglobal Saturated Practical Stabilization for nonholonomic mobile robots With Uncertain Parameters and Angle Measurement Disturbance

Semiglobal Saturated Practical Stabilization for Nonholonomi...

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第25届中国控制与决策会议

作者： Hua Chen Jinbo Zhang Mathematics and Physics Department Hohai University Jiangsu Key Laboratory of Power Transmission and Distribution Equipment Technology Hohai University

ISBN: (纸本)9781467355339

In this paper, the semiglobal stabilization problem is addressed for a class of uncertain nonholonomic mobile robots with input saturation. By solving the linear inequalities, a new switching controller is presented in the presence of parametric uncertainties and angle measurement disturbance. Under the proposed controller, it is rigorously proved that all the states of the closed loop system can be stabilized to the any prescribed small interval around zero. Finally, a numerical example illustrate the effectiveness of the control design method.

关键词： nonholonomic mobile robots input saturation uncertain parameters angle measurement disturbance.

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Further Results of Semiglobal Saturated Stabilization for nonholonomic mobile robots

Further Results of Semiglobal Saturated Stabilization for No...

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第26届中国控制与决策会议

作者： Hua Chen Junfeng Chen Yan Lei Weixu Chen Yawei Wang Mathematics and Physics Department Hohai University College of IOT EngineeringHohai University

Compared with [1], further results of semiglobal pracitical stabilization for a class of uncertain nonholonomic mobile robots with input saturation is considered in this paper. Based on a new switching control design strategy, the saturated stabilized controller is presented in the presence of parametric uncertainties and angle measurement *** the proposed controller, it is rigorously proved that all the states of the closed loop system can be stabilized to an arbitrarily prescribed small neighborhood of the origin. Finally, a numerical example illustrate the effectiveness of the control design method.

关键词： nonholonomic mobile robots uncertain parameters angle measurement disturbance input saturation switching control.

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Robust Adaptive Neuro-Fuzzy Control of Uncertain nonholonomic mobile robots

Robust Adaptive Neuro-Fuzzy Control of Uncertain Nonholonomi...

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第二十四届中国控制会议

作者： F. Hong S. S. Ge T. H. Lee Department of Electrical ＆ Computer Engineering National University of Singapore Singapore 117576 Department of Electrical ＆ Computer Engineering National University of Singapore Singapore 117576 Department of Electrical ＆ Computer Engineering National University of Singapore Singapore 117576

＜正＞ This paper presents an adaptive neuro-fuzzy controller design for the motion control of nonholonomic mobile robots in the presence of unknown disturbances. A unified and systematic procedure is employed to design the controller for the nonholonomic mobile robot systems. The neuro-fuzzy controller is constructed in modelling of system unknown dynamics. The proposed controller guarantees the asymptotic stability of the motion control and the uniform boundedness of the force control.

关键词： neuro-fuzzy control nonholonomic mobile robots motion control

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Second-Order Sliding Mode Control for nonholonomic mobile robots Formation

Second-Order Sliding Mode Control for Nonholonomic Mobile Ro...

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第三十届中国控制会议

作者： SHEN Dongbin,SUN Zhendong,QIAO Yupeng SCUT-CUHK Joint Center for Automation Science and Engineering, South China University of Technology,Guangzhou 510460,P.R.China

＜正＞In this paper,we propose decentralized nonholonomic algorithms for mobile robots formation control via secondorder sliding mode *** problem of formation control is solved by keeping separated distances and bearing desired angles between the leader robot and follower *** of the orientation of the follower robots is achieved by means of a （l-Ψ）-based *** also develop a（l—l）-based algorithm to control the distances between the leader and followers for a *** proposed controllers are smooth,continuous,and robust against unknown bounded sensor installation errors. An illustrative example is presented to verify the effectiveness of the approach.

关键词： nonholonomic mobile robots Leader-Follower Formation Sliding Mode

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