Name
Title | ||
|---|---|---|
State-Feedback Stabilisation For Stochastic Non-Holonomic Mobile Robots With Uncertain Visual Servoing Parameters |
Abstract | ||
|---|---|---|
The stabilising problem of stochastic non-holonomic mobile robots with uncertain parameters based on visual servoing is addressed in this paper. The model of non-holonomic mobile robots based on visual servoing is extended to the stochastic case, where their forward velocity and angular velocity are both subject to some stochastic disturbances. Based on backstepping technique, state-feedback stabilising controllers are designed for stochastic non-holonomic mobile robots. A switching control strategy for the original system is presented. The proposed controllers guarantee that the closed-loop system is asymptotically stabilised at the zero equilibrium point in probability. |
Year | DOI | Venue |
|---|---|---|
2014 | 10.1080/00207721.2014.891675 | INTERNATIONAL JOURNAL OF SYSTEMS SCIENCE |
Keywords | Field | DocType |
stochastic non-holonomic mobile robots, stabilisation, backstepping, visual servoing, switching control strategy | Backstepping,Holonomic,Angular velocity,Control theory,Equilibrium point,Control engineering,Visual servoing,Forward velocity,Mobile robot,Mathematics | Journal |
Volume | Issue | ISSN |
45 | 7 | 0020-7721 |
Citations | PageRank | References |
0 | 0.34 | 12 |
Authors | ||
5 | ||
Name | Order | Citations | PageRank |
|---|---|---|---|
| Dongkai Zhang | 1 | 0 | 0.34 |
| Chaoli Wang | 2 | 58 | 11.04 |
| Guoliang Wei | 3 | 0 | 0.34 |
| Hengjun Zhang | 4 | 0 | 0.68 |
| Hua Chen | 5 | 8 | 2.56 |