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Adaptive Visual Regulation of Wheeled Mobile Robots: a Switching Approach

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Abstract

This paper deals with the visual regulation problem of wheeled mobile robots (WMRs) in the presence of uncalibrated camera-to-robot parameters and unknown image depth. A two-stage controller is designed by using a switching approach. Specifically, in the first stage, an invariant-manifold-based adaptive controller is presented to bring the lateral error and angular error within an arbitrarily small neighborhood of zero; in the second stage, the longitudinal error is regulated by employing a proportional controller. Utilizing the Lyapunov stability analysis, the exponentially bounded stability of the closed-loop system is proved. Both simulation and experimental results are presented to validate the effectiveness of the proposed approach.

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Authors and Affiliations

  1. College of Electrical Engineering, Yancheng Institute of Technology, Yancheng, 224003, China

    Qun Lu

  2. Department of Automation, University of Science and Technology of China, Hefei, 230000, China

    Zhijun Li

  3. Zhejiang Provincial United Key Laboratory of Embedded Systems, Zhejiang University of Technology, Hangzhou, 310023, China

    Li Yu

  4. Department of Mechanical, Industrial, and Aerospace Engineering, Concordia University, Montreal, Quebec, H3G 1M8, Canada

    Chun-Yi Su

Authors
  1. Qun Lu
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  2. Zhijun Li
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  3. Li Yu
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  4. Chun-Yi Su
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Correspondence to Zhijun Li.

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Lu, Q., Li, Z., Yu, L. et al. Adaptive Visual Regulation of Wheeled Mobile Robots: a Switching Approach. J Intell Robot Syst 98, 345–358 (2020). https://doi.org/10.1007/s10846-019-01065-3

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  • DOI: https://doi.org/10.1007/s10846-019-01065-3

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