Abstract:
This article proposes a novel visual servoing trajectory tracking controller satisfying velocity saturation constraints for mobile robots, which can simultaneously realiz...Show MoreMetadata
Abstract:
This article proposes a novel visual servoing trajectory tracking controller satisfying velocity saturation constraints for mobile robots, which can simultaneously realize the unknown image depth identification. Compared with existing saturation controllers, the boundness of velocity commands can be explicitly determined, although the control law is coupled with the unknown depth. In addition, the asymptotic stability (generally realizing uniform ultimate boundedness) is achieved theoretically in the presence of both the velocity saturation constraints and the unknown depth parameter. To guarantee the velocity commands within the allowed speed limit, the saturation function is introduced into the visual servo control law to reshape tracking errors. Furthermore, to deal with the unknown depth, an adaptive updating law is skillfully constructed, which can simultaneously identify it under the persistent excitation condition. Also, to explicitly demonstrate the saturation performance of the designed visual servo controller, the boundness of velocity commands is analyzed, following which parameter selection rules are provided. The asymptotic convergence of tracking errors is theoretically proved with Lyapunov techniques. Finally, comparative experimental results show the effectiveness and superior performance of the proposed method.
Published in: IEEE Transactions on Industrial Electronics ( Volume: 71, Issue: 6, June 2024)
Funding Agency:
Institute of Robotics and Automatic Information System (IRAIS), Tianjin, China
Tianjin Key Laboratory of Intelligent Robotics, Nankai University, Tianjin, China
Runhua Wang received the B.S. degree in automation from Dalian Maritime University, Dalian, China, in 2016, and the Ph.D. degree in control theory and control engineering from Nankai University, Tianjin, China, in 2021.
She is currently an Assistant Professor with the Institute of Robotics and Automatic Information System, Nankai University. Her research interests include motion planning and visual servoing of mobile robot...Show More
Runhua Wang received the B.S. degree in automation from Dalian Maritime University, Dalian, China, in 2016, and the Ph.D. degree in control theory and control engineering from Nankai University, Tianjin, China, in 2021.
She is currently an Assistant Professor with the Institute of Robotics and Automatic Information System, Nankai University. Her research interests include motion planning and visual servoing of mobile robot...View more
Institute of Robotics and Automatic Information System (IRAIS), Tianjin, China
Tianjin Key Laboratory of Intelligent Robotics, Nankai University, Tianjin, China
Zhejin Zhu received the B.S. degree in automation in 2022 from Nankai University, Tianjin, China where he is currently working toward the master's degree in electronic and information engineering from the Institute of Robotics and Automatic Information Systems.
His research interests include visual servoing, reinforcement learning, and mobile robots.
Zhejin Zhu received the B.S. degree in automation in 2022 from Nankai University, Tianjin, China where he is currently working toward the master's degree in electronic and information engineering from the Institute of Robotics and Automatic Information Systems.
His research interests include visual servoing, reinforcement learning, and mobile robots.View more
Institute of Robotics and Automatic Information System (IRAIS), Tianjin, China
Tianjin Key Laboratory of Intelligent Robotics, Nankai University, Tianjin, China
Xuebo Zhang (Senior Member, IEEE) received the B.Eng. degree in automation from Tianjin University, Tianjin, China, in 2002, and the Ph.D. degree in control theory and control engineering from Nankai University, Tianjin, in 2011.
From 2014 to 2015, he was a Visiting Scholar with the Department of Electrical and Computer Engineering, University of Windsor, Windsor, ON, Canada. He was a Visiting Scholar with the Department o...Show More
Xuebo Zhang (Senior Member, IEEE) received the B.Eng. degree in automation from Tianjin University, Tianjin, China, in 2002, and the Ph.D. degree in control theory and control engineering from Nankai University, Tianjin, in 2011.
From 2014 to 2015, he was a Visiting Scholar with the Department of Electrical and Computer Engineering, University of Windsor, Windsor, ON, Canada. He was a Visiting Scholar with the Department o...View more
Institute of Robotics and Automatic Information System (IRAIS), Tianjin, China
Tianjin Key Laboratory of Intelligent Robotics, Nankai University, Tianjin, China
Yongchun Fang (Senior Member, IEEE) received the B.S. degree in electrical engineering and the M.S. degree in control theory and applications from Zhejiang University, Hangzhou, China, in 1996 and 1999, respectively, and the Ph.D. degree in electrical engineering from Clemson University, Clemson, SC, USA, in 2002.
From 2002 to 2003, he was a Postdoctoral Fellow with the Sibley School of Mechanical and Aerospace Engineering...Show More
Yongchun Fang (Senior Member, IEEE) received the B.S. degree in electrical engineering and the M.S. degree in control theory and applications from Zhejiang University, Hangzhou, China, in 1996 and 1999, respectively, and the Ph.D. degree in electrical engineering from Clemson University, Clemson, SC, USA, in 2002.
From 2002 to 2003, he was a Postdoctoral Fellow with the Sibley School of Mechanical and Aerospace Engineering...View more
School of Control Science and Engineering, Tiangong University, Tianjin, China
Baoquan Li (Member, IEEE) received the B.Eng. degree in automation and the Ph.D. degree in control theory and control engineering from Nankai University, Tianjin, China, in 2010 and 2015, respectively.
From 2013 to 2014, he was a joint Ph.D. student with Nanyang Technological University, Singapore, awarded by China Scholarship Council. He is currently a Professor with the School of Control Science and Engineering, Tiangong...Show More
Baoquan Li (Member, IEEE) received the B.Eng. degree in automation and the Ph.D. degree in control theory and control engineering from Nankai University, Tianjin, China, in 2010 and 2015, respectively.
From 2013 to 2014, he was a joint Ph.D. student with Nanyang Technological University, Singapore, awarded by China Scholarship Council. He is currently a Professor with the School of Control Science and Engineering, Tiangong...View more
Contents Institute of Robotics and Automatic Information System (IRAIS), Tianjin, China
Tianjin Key Laboratory of Intelligent Robotics, Nankai University, Tianjin, China
Runhua Wang received the B.S. degree in automation from Dalian Maritime University, Dalian, China, in 2016, and the Ph.D. degree in control theory and control engineering from Nankai University, Tianjin, China, in 2021.
She is currently an Assistant Professor with the Institute of Robotics and Automatic Information System, Nankai University. Her research interests include motion planning and visual servoing of mobile robots.
Runhua Wang received the B.S. degree in automation from Dalian Maritime University, Dalian, China, in 2016, and the Ph.D. degree in control theory and control engineering from Nankai University, Tianjin, China, in 2021.
She is currently an Assistant Professor with the Institute of Robotics and Automatic Information System, Nankai University. Her research interests include motion planning and visual servoing of mobile robots.View more
Institute of Robotics and Automatic Information System (IRAIS), Tianjin, China
Tianjin Key Laboratory of Intelligent Robotics, Nankai University, Tianjin, China
Zhejin Zhu received the B.S. degree in automation in 2022 from Nankai University, Tianjin, China where he is currently working toward the master's degree in electronic and information engineering from the Institute of Robotics and Automatic Information Systems.
His research interests include visual servoing, reinforcement learning, and mobile robots.
Zhejin Zhu received the B.S. degree in automation in 2022 from Nankai University, Tianjin, China where he is currently working toward the master's degree in electronic and information engineering from the Institute of Robotics and Automatic Information Systems.
His research interests include visual servoing, reinforcement learning, and mobile robots.View more
Institute of Robotics and Automatic Information System (IRAIS), Tianjin, China
Tianjin Key Laboratory of Intelligent Robotics, Nankai University, Tianjin, China
Xuebo Zhang (Senior Member, IEEE) received the B.Eng. degree in automation from Tianjin University, Tianjin, China, in 2002, and the Ph.D. degree in control theory and control engineering from Nankai University, Tianjin, in 2011.
From 2014 to 2015, he was a Visiting Scholar with the Department of Electrical and Computer Engineering, University of Windsor, Windsor, ON, Canada. He was a Visiting Scholar with the Department of Mechanical and Biomedical Engineering, City University of Hong Kong, Hong Kong, in 2017. He is currently a Professor with the Institute of Robotics and Automatic Information System, Nankai University, and Tianjin Key Laboratory of Intelligent Robotics, Tianjin. His research interests include planning and control of robotics and mechatronic system, robot vision and visual sensor networks, SLAM, reinforcement learning, and game theory.
Xuebo Zhang (Senior Member, IEEE) received the B.Eng. degree in automation from Tianjin University, Tianjin, China, in 2002, and the Ph.D. degree in control theory and control engineering from Nankai University, Tianjin, in 2011.
From 2014 to 2015, he was a Visiting Scholar with the Department of Electrical and Computer Engineering, University of Windsor, Windsor, ON, Canada. He was a Visiting Scholar with the Department of Mechanical and Biomedical Engineering, City University of Hong Kong, Hong Kong, in 2017. He is currently a Professor with the Institute of Robotics and Automatic Information System, Nankai University, and Tianjin Key Laboratory of Intelligent Robotics, Tianjin. His research interests include planning and control of robotics and mechatronic system, robot vision and visual sensor networks, SLAM, reinforcement learning, and game theory.View more
Institute of Robotics and Automatic Information System (IRAIS), Tianjin, China
Tianjin Key Laboratory of Intelligent Robotics, Nankai University, Tianjin, China
Yongchun Fang (Senior Member, IEEE) received the B.S. degree in electrical engineering and the M.S. degree in control theory and applications from Zhejiang University, Hangzhou, China, in 1996 and 1999, respectively, and the Ph.D. degree in electrical engineering from Clemson University, Clemson, SC, USA, in 2002.
From 2002 to 2003, he was a Postdoctoral Fellow with the Sibley School of Mechanical and Aerospace Engineering, Cornell University, Ithaca, NY, USA. He is currently a Professor with the Institute of Robotics and Automatic Information System, Nankai University, Tianjin, China. His research interests include AFM-based nanosystems, visual servoing, and control of underactuated systems including overhead cranes.
Yongchun Fang (Senior Member, IEEE) received the B.S. degree in electrical engineering and the M.S. degree in control theory and applications from Zhejiang University, Hangzhou, China, in 1996 and 1999, respectively, and the Ph.D. degree in electrical engineering from Clemson University, Clemson, SC, USA, in 2002.
From 2002 to 2003, he was a Postdoctoral Fellow with the Sibley School of Mechanical and Aerospace Engineering, Cornell University, Ithaca, NY, USA. He is currently a Professor with the Institute of Robotics and Automatic Information System, Nankai University, Tianjin, China. His research interests include AFM-based nanosystems, visual servoing, and control of underactuated systems including overhead cranes.View more
School of Control Science and Engineering, Tiangong University, Tianjin, China
Baoquan Li (Member, IEEE) received the B.Eng. degree in automation and the Ph.D. degree in control theory and control engineering from Nankai University, Tianjin, China, in 2010 and 2015, respectively.
From 2013 to 2014, he was a joint Ph.D. student with Nanyang Technological University, Singapore, awarded by China Scholarship Council. He is currently a Professor with the School of Control Science and Engineering, Tiangong University, Tianjin. His research interests include computer vision, visual servoing, and mobile robots.
Baoquan Li (Member, IEEE) received the B.Eng. degree in automation and the Ph.D. degree in control theory and control engineering from Nankai University, Tianjin, China, in 2010 and 2015, respectively.
From 2013 to 2014, he was a joint Ph.D. student with Nanyang Technological University, Singapore, awarded by China Scholarship Council. He is currently a Professor with the School of Control Science and Engineering, Tiangong University, Tianjin. His research interests include computer vision, visual servoing, and mobile robots.View more
