{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2025,2,21]],"date-time":"2025-02-21T02:09:00Z","timestamp":1740103740687,"version":"3.37.3"},"reference-count":45,"publisher":"Wiley","license":[{"start":{"date-parts":[[2020,12,4]],"date-time":"2020-12-04T00:00:00Z","timestamp":1607040000000},"content-version":"unspecified","delay-in-days":0,"URL":"https:\/\/creativecommons.org\/licenses\/by\/4.0\/"}],"funder":[{"DOI":"10.13039\/501100014601","name":"Dongguan University of Technology","doi-asserted-by":"publisher","award":["GC300501-113","GC300501-111","2018KQNCX252","2018KTSCX226","2019A1515010493","2019A1515110477","2019A1515110476","2019B1515120076"],"award-info":[{"award-number":["GC300501-113","GC300501-111","2018KQNCX252","2018KTSCX226","2019A1515010493","2019A1515110477","2019A1515110476","2019B1515120076"]}],"id":[{"id":"10.13039\/501100014601","id-type":"DOI","asserted-by":"publisher"}]},{"name":"Innovation Talent Program for Young Scholars of Guangdong Province","award":["GC300501-113","GC300501-111","2018KQNCX252","2018KTSCX226","2019A1515010493","2019A1515110477","2019A1515110476","2019B1515120076"],"award-info":[{"award-number":["GC300501-113","GC300501-111","2018KQNCX252","2018KTSCX226","2019A1515010493","2019A1515110477","2019A1515110476","2019B1515120076"]}]},{"DOI":"10.13039\/501100003453","name":"Natural Science Foundation of Guangdong Province","doi-asserted-by":"publisher","award":["GC300501-113","GC300501-111","2018KQNCX252","2018KTSCX226","2019A1515010493","2019A1515110477","2019A1515110476","2019B1515120076"],"award-info":[{"award-number":["GC300501-113","GC300501-111","2018KQNCX252","2018KTSCX226","2019A1515010493","2019A1515110477","2019A1515110476","2019B1515120076"]}],"id":[{"id":"10.13039\/501100003453","id-type":"DOI","asserted-by":"publisher"}]},{"name":"Basic and Applied Basic Program of Guangdong Province","award":["GC300501-113","GC300501-111","2018KQNCX252","2018KTSCX226","2019A1515010493","2019A1515110477","2019A1515110476","2019B1515120076"],"award-info":[{"award-number":["GC300501-113","GC300501-111","2018KQNCX252","2018KTSCX226","2019A1515010493","2019A1515110477","2019A1515110476","2019B1515120076"]}]}],"content-domain":{"domain":[],"crossmark-restriction":false},"short-container-title":["Complexity"],"published-print":{"date-parts":[[2020,12,4]]},"abstract":"<jats:p>This paper investigates the stabilization and trajectory tracking problem of wheeled mobile robot with a ceiling-mounted camera in complex environment. First, an adaptive visual servoing controller is proposed based on the uncalibrated kinematic model due to the complex operation environment. Then, an adaptive controller is derived to provide a solution of uncertain dynamic control for a wheeled mobile robot subject to parametric uncertainties. Furthermore, the proposed controllers can be applied to a more general situation where the parallelism requirement between the image plane and operation plane is no more needed. The overparameterization of regressor matrices is avoided by exploring the structure of the camera-robot system, and thus, the computational complexity of the controller can be simplified. The Lyapunov method is employed to testify the stability of a closed-loop system. Finally, simulation results are presented to demonstrate the performance of the suggested control.<\/jats:p>","DOI":"10.1155\/2020\/8836468","type":"journal-article","created":{"date-parts":[[2020,12,4]],"date-time":"2020-12-04T21:50:37Z","timestamp":1607118637000},"page":"1-13","source":"Crossref","is-referenced-by-count":4,"title":["Adaptive Visually Servoed Tracking Control for Wheeled Mobile Robot with Uncertain Model Parameters in Complex Environment"],"prefix":"10.1155","volume":"2020","author":[{"ORCID":"https:\/\/orcid.org\/0000-0003-3756-1672","authenticated-orcid":true,"given":"Fujie","family":"Wang","sequence":"first","affiliation":[{"name":"School of Electrical Engineering and Intelligentization, Dongguan University of Technology, Dongguan 523000, China"}]},{"ORCID":"https:\/\/orcid.org\/0000-0002-8517-1137","authenticated-orcid":true,"given":"Yi","family":"Qin","sequence":"additional","affiliation":[{"name":"School of Electrical Engineering and Intelligentization, Dongguan University of Technology, Dongguan 523000, China"}]},{"given":"Fang","family":"Guo","sequence":"additional","affiliation":[{"name":"School of Electrical Engineering and Intelligentization, Dongguan University of Technology, Dongguan 523000, China"}]},{"given":"Bin","family":"Ren","sequence":"additional","affiliation":[{"name":"School of Electrical Engineering and Intelligentization, Dongguan University of Technology, Dongguan 523000, China"}]},{"given":"John T. W.","family":"Yeow","sequence":"additional","affiliation":[{"name":"School of Electrical Engineering and Intelligentization, Dongguan University of Technology, Dongguan 523000, China"},{"name":"System Design Engineering, University of Waterloo, Waterloo, ON, Canada"}]}],"member":"311","reference":[{"key":"1","doi-asserted-by":"publisher","DOI":"10.1109\/lra.2019.2959442"},{"key":"2","doi-asserted-by":"publisher","DOI":"10.3390\/app10031135"},{"key":"3","article-title":"Tracking control for mobile robots considering the dynamics of all their subsystems: experimental implementation","volume":"2017","author":"J. R. Garc\u00eda-S\u00e1nchez","year":"2017","journal-title":"Complexity"},{"key":"4","doi-asserted-by":"publisher","DOI":"10.1016\/j.ins.2008.09.012"},{"key":"5","doi-asserted-by":"crossref","DOI":"10.1155\/2018\/7360643","article-title":"Finite-time switching control of nonholonomic mobile robots for moving target tracking based on polar coordinates","volume":"2018","author":"H. Chen","year":"2018","journal-title":"Complexity"},{"key":"6","doi-asserted-by":"publisher","DOI":"10.1109\/70.880812"},{"issue":"3","key":"7","doi-asserted-by":"crossref","first-page":"777","DOI":"10.1109\/TNNLS.2018.2852711","article-title":"Robot learning system based on adaptive neural control and dynamic movement primitives","volume":"30","author":"C. Yang","year":"2019","journal-title":"IEEE Transactions on Neural Networks and Learning Systems"},{"issue":"4","key":"8","first-page":"804","article-title":"Uncalibrated visual servoing of robots using a depth-independent interaction matrix","volume":"22","author":"Y.-H. Liu","year":"2006","journal-title":"IEEE Transactions on Neural Networks and Learning Systems"},{"key":"9","first-page":"651","article-title":"Special section on vision-based control of robot manipulators","volume":"12","author":"G. D. Hager","year":"1996","journal-title":"IEEE Trans Robotics Automation"},{"key":"10","doi-asserted-by":"publisher","DOI":"10.1109\/lra.2018.2807592"},{"key":"11","doi-asserted-by":"publisher","DOI":"10.1109\/tro.2004.829456"},{"key":"12","doi-asserted-by":"publisher","DOI":"10.1109\/tra.2003.820923"},{"issue":"1","key":"13","doi-asserted-by":"crossref","first-page":"87","DOI":"10.1109\/TMECH.2003.809133","article-title":"Asymptotic trajectory tracking of manipulators using uncalibrated visual feedback","volume":"8","author":"Y. Shen","year":"2003","journal-title":"IEEE\/ASME Transactions on Mechatronics"},{"first-page":"5489","article-title":"Visual tracking strategy of a wheeled mobile robot and a multi-dof crane equipped with a camera","author":"J. Ling","key":"14"},{"first-page":"8428","article-title":"Visual servoing of nonholonomic mobile robots based on a new motion estimation technique","author":"X. Zhang","key":"15"},{"key":"16","doi-asserted-by":"publisher","DOI":"10.1017\/s0263574719001115"},{"first-page":"2877","article-title":"Person tracking with a mobile robot using two uncalibrated independently moving cameras","author":"H. Kwon","key":"17"},{"key":"18","doi-asserted-by":"publisher","DOI":"10.1109\/tmech.2015.2504098"},{"key":"19","doi-asserted-by":"publisher","DOI":"10.1109\/tie.2016.2598526"},{"key":"20","doi-asserted-by":"publisher","DOI":"10.1109\/tsmc.2020.2967786"},{"key":"21","doi-asserted-by":"publisher","DOI":"10.1002\/asjc.826"},{"key":"22","doi-asserted-by":"publisher","DOI":"10.2316\/journal.206.2011.1.206-3381"},{"issue":"12","key":"23","doi-asserted-by":"crossref","first-page":"1565","DOI":"10.1049\/iet-cta.2009.0052","article-title":"Control approach for tracking a moving target by a wheeled mobile robot with limited velocities","volume":"3","author":"H. Loulin","year":"2009","journal-title":"Iet Control Theory & Applications"},{"first-page":"6199","article-title":"Adaptive image-based visual servoing of wheeled mobile robots with fixed camera configuration","author":"X. Liang","key":"24"},{"key":"25","doi-asserted-by":"publisher","DOI":"10.1109\/tcst.2015.2411627"},{"issue":"1","key":"26","doi-asserted-by":"crossref","first-page":"55","DOI":"10.1177\/027836499401300104","article-title":"Control of mechanical systems with rolling constraints application to dynamic control of mobile robots","volume":"13","author":"N. Sarkar","year":"1992","journal-title":"International Journal of Robotics Research"},{"issue":"6","key":"27","doi-asserted-by":"crossref","first-page":"317","DOI":"10.1002\/rob.1026","article-title":"Robust tracking control of mobile robots in the presence of uncertainties in the dynamical model","volume":"18","author":"G. Corradini","year":"2001","journal-title":"Journal of Robotic Systems"},{"key":"28","doi-asserted-by":"publisher","DOI":"10.1109\/tsmcb.2008.2002851"},{"key":"29","doi-asserted-by":"publisher","DOI":"10.1109\/tie.2018.2803773"},{"first-page":"4384","article-title":"Dynamic feedback robust regulation of nonholonomic mobile robots based on visual servoing","author":"C. Wang","key":"30"},{"key":"31","doi-asserted-by":"publisher","DOI":"10.1016\/s1874-1029(11)60211-5"},{"key":"32","doi-asserted-by":"publisher","DOI":"10.1109\/3477.931519"},{"key":"33","doi-asserted-by":"publisher","DOI":"10.1109\/tmech.2018.2836394"},{"key":"34","doi-asserted-by":"publisher","DOI":"10.1109\/tcyb.2015.2477606"},{"key":"35","doi-asserted-by":"publisher","DOI":"10.1016\/j.automatica.2015.02.029"},{"key":"36","doi-asserted-by":"publisher","DOI":"10.1109\/tac.2018.2793458"},{"key":"37","doi-asserted-by":"publisher","DOI":"10.1109\/tro.2004.837240"},{"issue":"4","key":"38","first-page":"803","article-title":"Adaptive control of an electrically driven nonholonomic mobile robot via backstepping and fuzzy approach","volume":"17","author":"Z.-G. Hou","year":"2009","journal-title":"IEEE Transactions on Robotics"},{"issue":"3","key":"39","doi-asserted-by":"crossref","first-page":"488","DOI":"10.1109\/TAC.2006.890321","article-title":"Adaptive regulation of amplitude limited robot manipulators with uncertain kinematics and dynamics","volume":"52","author":"W. E. Dixon","year":"2007","journal-title":"IEEE Transactions on Automatic Control"},{"key":"40","doi-asserted-by":"publisher","DOI":"10.1109\/tmech.2015.2388555"},{"key":"41","doi-asserted-by":"publisher","DOI":"10.1109\/tcds.2020.2968056"},{"issue":"12","key":"42","doi-asserted-by":"crossref","first-page":"4149","DOI":"10.1002\/rnc.4622","article-title":"Synchronized adaptive control for coordinating manipulators with time-varying actuator constraint and uncertain dynamics","volume":"29","author":"F. Wang","year":"2019","journal-title":"International Journal of Robust and Nonlinear Control"},{"key":"43","doi-asserted-by":"publisher","DOI":"10.1109\/access.2020.2970468"},{"key":"44","doi-asserted-by":"publisher","DOI":"10.1007\/s40815-018-00604-8"},{"key":"45","doi-asserted-by":"crossref","DOI":"10.1155\/2019\/8642027","article-title":"A repeatable optimization for kinematic energy system with its mobile manipulator application","volume":"2019","author":"Y. Kong","year":"2019","journal-title":"Complexity"}],"container-title":["Complexity"],"original-title":[],"language":"en","link":[{"URL":"http:\/\/downloads.hindawi.com\/journals\/complexity\/2020\/8836468.pdf","content-type":"application\/pdf","content-version":"vor","intended-application":"text-mining"},{"URL":"http:\/\/downloads.hindawi.com\/journals\/complexity\/2020\/8836468.xml","content-type":"application\/xml","content-version":"vor","intended-application":"text-mining"},{"URL":"http:\/\/downloads.hindawi.com\/journals\/complexity\/2020\/8836468.pdf","content-type":"unspecified","content-version":"vor","intended-application":"similarity-checking"}],"deposited":{"date-parts":[[2023,10,14]],"date-time":"2023-10-14T16:38:38Z","timestamp":1697301518000},"score":1,"resource":{"primary":{"URL":"https:\/\/www.hindawi.com\/journals\/complexity\/2020\/8836468\/"}},"subtitle":[],"editor":[{"given":"Ning","family":"Wang","sequence":"additional","affiliation":[]}],"short-title":[],"issued":{"date-parts":[[2020,12,4]]},"references-count":45,"alternative-id":["8836468","8836468"],"URL":"https:\/\/doi.org\/10.1155\/2020\/8836468","relation":{},"ISSN":["1099-0526","1076-2787"],"issn-type":[{"type":"electronic","value":"1099-0526"},{"type":"print","value":"1076-2787"}],"subject":[],"published":{"date-parts":[[2020,12,4]]}}}