449
Views
18
CrossRef citations to date
0
Altmetric
Original Articles

Finite-time tracking control for multiple non-holonomic mobile robots based on visual servoing

, &
Pages 2175-2188 | Received 04 Feb 2013, Accepted 03 May 2013, Published online: 19 Jun 2013

References

  • Benhimane, S., & Malis, E. (2006). Homography-based 2D visual servoing. Proceedings of IEEE International Conference on Robotics and Automation (pp. 2397–2402). Orlando, Florida.
  • Bhat, S.P., & Bernstein, D.S. (2000). Finite-time stability of continuous autonomous systems. SIAM Journal on Control and Optimization, 38(3), 751–766.
  • Brockett, R.W. (1983). Asymptotic stability and feedback stabilization. In Differential geometric control theory (pp. 181–191). Boston, MA: Birkhäuser.
  • Cao, M., Morse, A.S., & Anderson, B.D.O. (2008). Agreeing asynchronously. IEEE Transactions on Automatic Control, 53(8), 1826–1838.
  • Cao, Y.C., Ren, W. & Meng, Z.Y. (2010). Decentralized finite-time sliding mode estimators and their applications in decentralized finite-time formation tracking. Systems and Control Letters, 59(9), 522–529.
  • Corke, P., & Hutchinson, S. (2001). A new partitioned approach to image based visual servo control. IEEE Transactions on Robotics and Automation, 17(4), 507–515.
  • Cortes, J., Martinez, S., & Bullo, F. (2006). Robust rendezvous for mobile autonomous agents via proximity graphs in arbitrary dimensions. IEEE Transactions on Automatic Control, 51(8), 1289–1298.
  • Dimarogonas, D.V., & Kyriakopoulos, K.J. (2007). On the rendezvous problem for multiple nonholonomic agents. IEEE Transactions on Automatic Control, 52(5), 916–922.
  • Dixon, W.E., Dawson, D.M., Zergeroglu, E., & Behal, A. (2001). Adaptive tracking control of a wheeled mobile robot via an uncalibrated camera system. IEEE Transactions on Systems, Man and Cybernetics, Part B: Cybernetics, 31(3), 341–352.
  • Dong, W.J. (2011). Robust formation control of multiple wheeled mobile robots. Journal of Intelligent and Robotic Systems: Theory and Applications, 62(3–4), 547–565.
  • Dong, W.J., & Farrell, J.A. (2008). Cooperative control of multiple nonholonomic mobile agents. IEEE Transactions on Automatic Control, 53(6), 1434–1448.
  • Dong, W.J., & Farrell, J.A. (2009). Decentralized cooperative control of multiple nonholonomic dynamic systems with uncertainty. Automatica, 45(3), 706–710.
  • Du, H.B., Li, S.H., & Qian, C.J. (2011). Finite-time attitude tracking control of spacecraft with application to attitude synchronization. IEEE Transactions on Automatic Control, 56(11), 2711–2717.
  • Fang, Y.C., Dixon, W.E., Dawson, D.M., & Chawda, P. (2005). Homography-based visual servo regulation of mobile robots. IEEE Transactions on Systems, Man, and Cybernetics, Part B: Cybernetics, 35(5), 1041–1050.
  • Fang, Y.C., Liu, X., & Zhang, X.B. (2012). Adaptive active visual servoing of nonholonomic mobile robots. IEEE Transactions on Industrial Electronics, 59(1), 486–497.
  • Hardy, G.H., Littlewood, J.E., & Polya, G. (1952). Inequalities[M]. Cambridge: Cambridge University Press.
  • Hong, Y.G., Chen, G.R., & Bushnell, L. (2008). Distributed observers design for leader-following control of multi-agent networks. Automatica, 44(2), 846–850.
  • Hong, Y.G., Hu, J.P., & Gao, L.X. (2006). Tracking control for multi-agent consensus with an active leader and variable topology. Automatica, 42(7), 1177–1182.
  • Jadbabaie, A., Lin, J., & Morse, A.S. (2003). Coordination of groups of mobile autonomous agents using nearest neighbor rules. IEEE Transactions on Automatic Control, 48(6), 988–1001.
  • Kanayama, Y., Kimura, Y., Miyazaki, F., & Noguchi, T. (1990). A stable tracking control method for an autonomous mobile robot. Proceedings of the IEEE International Conference on Robotics and Automation, Cincinnati (pp. 384–389). Ohio: IEEE Computer Society Press.
  • Khoo, S.Y., Xie, L.H., & Man, Z.H. (2009). Robust finite-time consensus tracking algorithm for multirobot systems. IEEE/ASME Transactions on Mechatronics, 14(2), 219–228.
  • Khoo, S.Y., Xie, L.H., Zhao, S.K., & Man, Z.H. (2013). Multi-surface sliding control for fast finite-time leader-follower consensus with high order SISO uncertain nonlinear agents. International Journal of Robust and Nonlinear Control, published online.
  • Kim, S., & Oh, S.Y. (2007). Hybrid position and image based visual servoing for mobile robots. Journal of Intelligent and Fuzzy Systems, 18(1), 73–82.
  • Lafferriere, G., Williams, A., Caughman, J., & Veermany, J.J.P. (2005). Decentralized control of vehicle formations. Systems and Control Letters, 54(9), 899–910.
  • Li, S.H., Ding, S.H., & Li, Q. (2009). Global set stabilisation of the spacecraft attitude using finite-time control technique. International Journal of Control, 82(5), 822–836.
  • Li, S.H., Du, H.B., & Lin, X.Z. (2011). Finite-time consensus algorithm for multi-agent systems with double-integrator dynamics. Automatica, 47(8), 1706–1712.
  • Li, S.H., & Tian, Y.P. (2007). Finite-time stability of cascade time-varying systems. International Journal of Control, 80(4), 646–657.
  • Malis, E., Chaumette, F., & Boudet, S. (1999). 2-1/2-D visual servoing. IEEE Transactions on Robotics and Automation, 15(2), 238–250.
  • Meng, Z.Y., Ren, W., & You, Z. (2010). Distributed finite-time attitude containment control for multiple rigid bodies. Automatica, 46(12), 2092–2099.
  • Nematollahi, E., & Janabi-Sharifi, F. (2009). Generalizations to control laws of image-based visual servoing. International Journal of Optomechatronics, 3(3), 167–186.
  • Ou, M.Y., Du, H.B., & Li, S.H. (2012). Finite-time formation control of multiple nonholonomic mobile robots. International Journal of Robust and Nonlinear Control. doi:10.1002/rnc.2880
  • Ou, M.Y., Du, H.B., & Li, S.H. (2012). Finite-time tracking control of multiple nonholonomic mobile robots. Journal of the Franklin Institute, 349(9), 2834–2860.
  • Ren, W. (2008). On consensus algorithms for double-integrator dynamics. IEEE Transactions on Automatic Control, 53(6), 1503–1509.
  • Qian, C.J., & Lin, W. (2001). A continuous feedback approach to global strong stabilization of nonlinear systems. IEEE Transactions on Automatic Control, 46(7), 1061–1079.
  • Ren, W. (2010). Consensus tracking under directed interaction topologies: Algorithms and experiments. IEEE Transactions on Control Systems Technology, 18(1), 230–237.
  • Saber, R.O. (2006). Flocking for multi-agent dynamic systems: Algorithms and theory. IEEE Transactions on Automatic Control, 51(3), 410–420.
  • Saber, R.O., & Murray, R.M. (2004). Consensus problems in networks of agents with switching topology and time-delays. IEEE Transactions on Automatic Control, 49(9), 1520–1533.
  • Sepulchre, R., Paley, D.A., Leonard, N.E. (2008). Stabilization of planar collective motion with limited communication. IEEE Transactions on Automatic Control, 53(3), 706–719.
  • Shen, Y.J., & Huang, Y.H. (2012). Global finite-time stabilisation for a class of nonlinear systems. International Journal of Systems Science, 43(1), 73–78.
  • Smith, R.S., & Hadaegh, F.Y. (2007). Closed-loop dynamics of cooperative vehicle formations with parallel estimators and communication. IEEE Transactions on Automatic Control, 52(8), 1404–1414.
  • Su, H.S., Wang, X.F., & Lin, Z.Q. (2009). Flocking of multi-agents with a virtual leader. IEEE Transactions on Automatic Control, 54(2), 293–307.
  • Tanner, H.G., Jadbabaie, A., & Pappas, G.J. (2007). Flocking in fixed and switching networks. IEEE Transactions on Automatic Control, 52(5), 863–868.
  • Wang, C.L., Mei, Y.C., Liang, Z.Y., & Jia, Q.W. (2010). Dynamic feedback tracking control of non-holonomic mobile robots with unknown camera parameters. Transactions of the Institute of Measurement and Control, 32(2), 155–169.
  • Xiao, F., & Wang, L. (2008). Asynchronous consensus in continuous-time multi-agent systems with switching topology and time-varying delays. IEEE Transactions on Automatic Control, 53(8), 1804–1816.
  • Yang, F., & Wang, C.L. (2011). Adaptive stabilization for uncertain nonholonomic dynamic mobile robots based on visual servoing feedback. Acta Automatica Sinica, 7(7), 857–846.
  • Zhai, J.Y. (2012). Global finite-time output feedback stabilization for a class of uncertain non-triangular nonlinear systems. International Journal of Systems Science. doi: 10.1080/00207721.2012.724113
  • Zhang, X.B., Fang, Y.C., & Liu, X. (2011). Motion-estimation-based visual servoing of nonholonomic mobile robots. IEEE Transactions on Robotics, 27(6), 1167–1175.
  • Zhao, D.Y., Li, S.Y., Zhu, Q.M., & Gao, F. (2010). Robust finite-time control approach for robotic manipulators. IET Control Theory and Applications, 4(1), 1–15.

Reprints and Corporate Permissions

Please note: Selecting permissions does not provide access to the full text of the article, please see our help page How do I view content?

To request a reprint or corporate permissions for this article, please click on the relevant link below:

Academic Permissions

Please note: Selecting permissions does not provide access to the full text of the article, please see our help page How do I view content?

Obtain permissions instantly via Rightslink by clicking on the button below:

If you are unable to obtain permissions via Rightslink, please complete and submit this Permissions form. For more information, please visit our Permissions help page.