TY - JOUR
T1 - Visual tracking control of a wheeled mobile robot with system model and velocity quantization robustness
AU - Tsai, Chi Yi
AU - Song, Kai-Tai
PY - 2009/1/1
Y1 - 2009/1/1
N2 - 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.
AB - 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.
KW - Parametric uncertainty
KW - Round-off error
KW - Uniform quantization error
KW - Visual tracking control
KW - Wheeled mobile robots
UR - http://www.scopus.com/inward/record.url?scp=67349226813&partnerID=8YFLogxK
U2 - 10.1109/TCST.2008.2001053
DO - 10.1109/TCST.2008.2001053
M3 - Article
AN - SCOPUS:67349226813
VL - 17
SP - 520
EP - 527
JO - IEEE Transactions on Control Systems Technology
JF - IEEE Transactions on Control Systems Technology
SN - 1063-6536
IS - 3
ER -