Tracking Control Based on Adaptive Dynamic Feedback for Nonholonomic Mobile Robots with Unknown Camera Parameters

Based on visual feedback and standard chained form,the trajectory tracking control problem of a class of uncertain nonholonomic mobile robots is studied.By using a pin-hole camera model,a novel kinematic tracking error model based on visual servo is introduced for nonholonomic mobile robots.Based on this model,a new tracking controller based on adaptive dynamic feedback is designed combining the back-stepping technique under the condition of uncertain vision parameters.The controller realizes the global asymptotic tracking of the trajectories.The stability of the closed-loop system and the boundedness of the estimated parameters are strictly proved by the Lyapunov method.Simulation results verify the efficiency of the controller.