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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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