Trajectory Tracking of Nonholonomic Mobile Robots via Discrete-Time Sliding Mode Controller Based on Uncalibrated Visual Servoing

This paper considers the problem of trajectory tracking of nonholonomic mobile robots based on uncalibrated visual servoing. A prerecorded image sequence or a video taken by the pin-hole camera is used to define a desired trajectory for the mobile robot. First, a novel discrete-time model is present based on visual servoing. And then the discrete-sliding mode controller is designed for the model associated with uncertain parameter. The asymptotic convergence of the tracking errors is proved rigorously. Finally, simulation results confirm the effectiveness of the proposed methods.