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dc.contributor.authorTsai, Chi-Yien_US
dc.contributor.authorSong, Kai-Taien_US
dc.date.accessioned2014-12-08T15:09:34Z-
dc.date.available2014-12-08T15:09:34Z-
dc.date.issued2009-05-01en_US
dc.identifier.issn1063-6536en_US
dc.identifier.urihttp://dx.doi.org/10.1109/TCST.2008.2001053en_US
dc.identifier.urihttp://hdl.handle.net/11536/7307-
dc.description.abstractThis 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.en_US
dc.language.isoen_USen_US
dc.subjectParametric uncertaintyen_US
dc.subjectround-off erroren_US
dc.subjectuniform quantization erroren_US
dc.subjectvisual tracking controlen_US
dc.subjectwheeled mobile robotsen_US
dc.titleVisual Tracking Control of a Wheeled Mobile Robot With System Model and Velocity Quantization Robustnessen_US
dc.typeArticleen_US
dc.identifier.doi10.1109/TCST.2008.2001053en_US
dc.identifier.journalIEEE TRANSACTIONS ON CONTROL SYSTEMS TECHNOLOGYen_US
dc.citation.volume17en_US
dc.citation.issue3en_US
dc.citation.spage520en_US
dc.citation.epage527en_US
dc.contributor.department電控工程研究所zh_TW
dc.contributor.departmentInstitute of Electrical and Control Engineeringen_US
dc.identifier.wosnumberWOS:000265711600002-
dc.citation.woscount12-
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