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Adaptive Dynamic Feedback Tracking Control for a Robot-camera System with Unknown Parameters

LIANG Zhen-Ying, WANG Chao-Li, CHEN Hua, LI Cai-Hong. Adaptive Dynamic Feedback Tracking Control for a Robot-camera System with Unknown Parameters. ACTA AUTOMATICA SINICA, 2016, 42(10): 1595-1604. doi: 10.16383/j.aas.2016.e110097
 Citation: LIANG Zhen-Ying, WANG Chao-Li, CHEN Hua, LI Cai-Hong. Adaptive Dynamic Feedback Tracking Control for a Robot-camera System with Unknown Parameters. ACTA AUTOMATICA SINICA, 2016, 42(10): 1595-1604.
##### doi: 10.16383/j.aas.2016.e110097

National Natural Science Foundation of China 61374040

Graduate Innovation Program of Shanghai 54-13-302-102

Natural Science Foundation of Shandong Province ZR2014FM007

National Natural Science Foundation of China 61304004

Hujiang Foundation of China C14002

Scientific Innovation Program 13ZZ115

Natural Science Foundation of Shandong Province ZR2013FM012

National Natural Science Foundation of China 61473179

## Adaptive Dynamic Feedback Tracking Control for a Robot-camera System with Unknown Parameters

Funds:

National Natural Science Foundation of China 61374040

Graduate Innovation Program of Shanghai 54-13-302-102

Natural Science Foundation of Shandong Province ZR2014FM007

National Natural Science Foundation of China 61304004

Hujiang Foundation of China C14002

Scientific Innovation Program 13ZZ115

Natural Science Foundation of Shandong Province ZR2013FM012

National Natural Science Foundation of China 61473179

More Information
###### Corresponding author:LIANG Zhen-Ying Received her Ph.D.degree from the Department of Control Science and Engineering, University of Shanghai for Science and Technology in 2011.She received her master degree and bachelor degree in mathematics from Liaoning Normal University in 1991 and Shandong Normal University in 1986, respectively.Currently, she is an associate professor at the Science School, Shandong University of Technology.Her research interest covers nonlinear controls, robust controls, and visual servoing feedback control.Corresponding author of this paper.E-mail:lzhenying@126.com
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• Fig.  1  Wheeled mobile robots with monocular camera

Fig.  2  The trajectory $e_{0}$ with respect to time for Case 1

Fig.  3  The trajectories of ${{e}_{i}}(i=1,\cdots ,4)$ for Case 1

Fig.  4  The trajectories of ${{u}_{i}}(i=0,1,2)$ for Case 1

Fig.  5  The trajectory of $\hat{\alpha}$ with respect to time for Case 1

Fig.  6  The trajectory of $p$ with respect to time for Case 1

Fig.  7  The velocity $v_{1}$ of the mobile robot for Case 1

Fig.  8  The velocities $v_{2}$ and $v_{3}$ of the mobile robot for Case 1

Fig.  9  The tracking error trajectories for ${{e}_{{{x}_{m}}}},{{e}_{{{y}_{m}}}}$ and $e_{\theta_{m}}$ in the image frame for Case 1

Fig.  10  The tracking error trajectories for ${{e}_{x}},{{e}_{y}}$ and $e_{\theta}$ in the robot task-space for Case 1

Fig.  11  The tracking errors in the robot task-space for Case 2

Fig.  12  The tracking errors in the image frame for Case 2

Fig.  13  The tracking error trajectories for ${{e}_{x}},{{e}_{y}}$ and $e_{\theta}$ in the robot task-space for Case 2

Fig.  14  The tracking errors in the robot task-space for Case 3

Fig.  15  The tracking errors in the image frame for Case 3

Fig.  16  The tracking error trajectories for ${{e}_{x}},{{e}_{y}}$ and $e_{\theta}$ in the robot task-space for Case 3

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##### 出版历程
• 收稿日期:  2015-06-06
• 录用日期:  2016-05-25
• 刊出日期:  2016-10-01

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