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• W3089963757 abstract "Since wheeled mobile robots play an important role in the field of domestic medical service, this paper studies the problem of guaranteed cost control for visual servoing systems of wheeled mobile robots with input constraints. First, a cascade model is derived for a class of mobile robot via image-based visual servoing method, in which the first stage subsystem considers the angular velocity as the input, and the second stage subsystem recognizes the angular velocity as the system parameter. Since the angular velocity of the system is a bounded time-varying parameter, the angular velocity is treated as an uncertain parameter in the second stage subsystem. In this case, the second stage subsystem is transferred into a linear time-invariant system with parameter uncertainties. Sufficient conditions are obtained by choosing a proper Lyapunov function, ensuring that the closed-loop system is asymptotically stable. Furthermore, a minimization problem with three linear matrix inequalities (LMIs) is proposed to obtain a state feedback controller. Finally, simulations and experiments are provided to show the effectiveness of the proposed method." @default.
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• W3089963757 date "2020-12-01" @default.
• W3089963757 modified "2023-10-14" @default.
• W3089963757 title "Guaranteed Cost Control for Visual Servoing Systems of Wheeled Mobile Robots" @default.
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• W3089963757 doi "https://doi.org/10.1109/icarm49381.2020.9195296" @default.
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