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Fixed-Time Trajectory Tracking Control for Nonholonomic Mobile Robot Based on Visual Servoing
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Abstract
This paper aims to discuss fixed-time tracking control problem for a nonholonomic wheeled mobile robot based on visual servoing. At first, by making use of the pinhole camera model, the robot system model with uncalibrated camera parameters is given. Then, the tracking error system between the mobile robot and desired trajectory is proposed. Thirdly, on the basis of fixed-time control theory and Lyapunov stability analysis, fixed-time tracking control laws are proposed for the robot, which can make the robot achieve the desired value in a fixed time. Simulation results are given at the end.
Title: Fixed-Time Trajectory Tracking Control for Nonholonomic Mobile Robot Based on Visual Servoing
Description:
Abstract
This paper aims to discuss fixed-time tracking control problem for a nonholonomic wheeled mobile robot based on visual servoing.
At first, by making use of the pinhole camera model, the robot system model with uncalibrated camera parameters is given.
Then, the tracking error system between the mobile robot and desired trajectory is proposed.
Thirdly, on the basis of fixed-time control theory and Lyapunov stability analysis, fixed-time tracking control laws are proposed for the robot, which can make the robot achieve the desired value in a fixed time.
Simulation results are given at the end.
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