Abstract
A novel saturated visual control strategy for nonholonomic mobile robots is presented. The principal focus is to deal with the stabilization problem. The saturation bounds for the control actions avoid exceeding the physical restrictions of the actuators. This feature is the main difference concerning related works. The closed-loop system is analyzed using the theory of non-autonomous cascade systems, and global uniform asymptotic stability is guaranteed. Experimental validation is carried out by using a unicycle-type mobile robot with an onboard camera. The experiment consists of stabilizing the robot in a preset pose using visual information. The experimental results are compared with a literature unsaturated visual servoing strategy. The results confirm the effectiveness of the proposed approach, completing the assigned task and bounding the control inputs.
Highlights
V ISUAL servoing is a common technique nowadays
In [1], a robust uncalibrated visual servoing methodology based on disturbance observer was tested in a NAO robot
A Finite-time-based PD+ control scheme for uncalibrated robot manipulator based on visual servoing was designed in [3]
Summary
V ISUAL servoing is a common technique nowadays. This control technique allows controlling the movements of the robots by using image information. An image-based visual servoing controller for mobile robots was proposed in [12] by using the radial camera model. The results in [24] showed an optimization stabilization method for visual servo control of nonholonomic mobile robots with fixed monocular cameras onboard. An adaptive two-stage switching approach to stabilize the visual servoing system in the presence of both uncalibrated camera-to-robot parameters and unknown image depth was proposed in [26]. Huang et al [28] presented a robust network-based control scheme for tracking and stabilization problems simultaneously applied to a wheeled mobile robot subject to parametric uncertainties, external disturbances, and input torque saturation. In an exhaustive literature review, only two papers were found addressing the stabilization problem of a unicycletype wheeled mobile robot using a saturated visual controller [33], [34].
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