標題: Visual Tracking Control of a Wheeled Mobile Robot With System Model and Velocity Quantization Robustness
作者: Tsai, Chi-Yi
Song, Kai-Tai
電控工程研究所
Institute of Electrical and Control Engineering
關鍵字: Parametric uncertainty;round-off error;uniform quantization error;visual tracking control;wheeled mobile robots
公開日期: 1-五月-2009
摘要: This paper presents a visual tracking control design of a nonholonomic mobile robot equipped with a tilt camera. The proposed design enhances various image-tracking applications using an on-board monocular camera, such as human-robot interaction and surveillance. Based on Lyapunov theory, the proposed control scheme not only possesses some degree of robustness against parametric uncertainty, but also overcomes the external uncertainty caused by velocity quantization noise. Moreover, the proposed controller fully works in the image space; hence, the computational complexity and the effects of sensor/camera modeling errors can be greatly reduced. Experimental results validate the effectiveness of the proposed control scheme, in terms of tracking performance, system convergence, and robustness.
URI: http://dx.doi.org/10.1109/TCST.2008.2001053
http://hdl.handle.net/11536/7307
ISSN: 1063-6536
DOI: 10.1109/TCST.2008.2001053
期刊: IEEE TRANSACTIONS ON CONTROL SYSTEMS TECHNOLOGY
Volume: 17
Issue: 3
起始頁: 520
結束頁: 527
顯示於類別:期刊論文


文件中的檔案:

  1. 000265711600002.pdf