Adaptive Visually Servoed Tracking Control for Wheeled Mobile Robot with Uncertain Model Parameters in Complex Environment

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,...

Full description

Saved in:
Bibliographic Details
Published inComplexity (New York, N.Y.) Vol. 2020; no. 2020; pp. 1 - 13
Main Authors Ren, Bin, Guo, Fang, Qin, Yi, Wang, Fujie, Yeow, John T. W.
Format Journal Article
LanguageEnglish
Published Cairo, Egypt Hindawi Publishing Corporation 04.12.2020
Hindawi
John Wiley & Sons, Inc
Wiley
Subjects
Adaptive control
Analysis
Calibration
Cameras
Complexity
Controllers
Dynamic control
Feedback control
Kinematics
Parameter uncertainty
Robot control
Robots
Sensors
Servocontrol
Simulation methods
Tracking control
Tracking problem
Velocity
Visual control
Online AccessGet full text
ISSN1076-2787
1099-0526
DOI10.1155/2020/8836468

Cover

Abstract 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.
AbstractList 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.
Audience Academic
Author Guo, Fang
Qin, Yi
Wang, Fujie
Yeow, John T. W.
Ren, Bin
Author_xml – sequence: 1
  fullname: Ren, Bin
– sequence: 2
  fullname: Guo, Fang
– sequence: 3
  fullname: Qin, Yi
– sequence: 4
  fullname: Wang, Fujie
– sequence: 5
  fullname: Yeow, John T. W.
BookMark eNqFkstvEzEQh1eoSLSFG2dkiSOkXdvrxx6rqEClIhC0cLT8GCcOu3bwOinlr8chFRUIhH2wNfP9xp7HUXMQU4SmeYrbE4wZOyUtaU-lpLzj8kFziNu-n7WM8IPdXfAZEVI8ao6madW2bc-pOGy-nzm9LmEL6FOYNnoYbtFHyNsEDl1lbb-EuEDzFEtOA_Ipo89LgKE63yYTBkAfkkkF3YSyRNfRQi46xOpzMKD3OusRCuQJVds8jesBvqHzuA05xRFiedw89HqY4Mndedxcvzq_mr-ZXb57fTE_u5zZrqdlpqllvsei63pJam49c8zpttMGgDPcG-8wda3WhBvuqSTWUGEtoUZaT5ihx83FPq5LeqXWOYw636qkg_ppSHmhdC7BDqCEAOKcExpL0mFnjRGSMcm8N55ZTmqs5_tY65y-bmAqapU2OdbvK9Lxnle87--pha5BQ_Sp1FqOYbLqTFIsaF2sUid_oep2MAZbO-trhX8XvNwLbE7TlMH_Sga3ajcAajcA6m4AKk7-wG0ouoRdN3UY_iV6sRctQ3T6JvzviWd7GioDXt_TuOuE4PQHYWfLbQ
CitedBy_id crossref_primary_10_3390_app112210665
crossref_primary_10_30766_2072_9081_2022_23_1_117_125
crossref_primary_10_3233_JIFS_213588
Cites_doi 10.1109/TNNLS.2018.2852711
10.1002/asjc.826
10.1109/tie.2016.2598526
10.1109/tmech.2018.2836394
10.1002/rob.1026
10.1109/tie.2018.2803773
10.1109/tro.2004.829456
10.1002/rnc.4622
10.1016/j.ins.2008.09.012
10.1016/s1874-1029(11)60211-5
10.1155/2018/7360643
10.1109/lra.2018.2807592
10.1017/s0263574719001115
10.1109/tmech.2015.2504098
10.1109/tcst.2015.2411627
10.1109/lra.2019.2959442
10.1109/70.880812
10.1007/s40815-018-00604-8
10.2316/journal.206.2011.1.206-3381
10.1109/tmech.2015.2388555
10.1109/access.2020.2970468
10.3390/app10031135
10.1109/3477.931519
10.1155/2019/8642027
10.1109/tra.2003.820923
10.1109/tsmc.2020.2967786
10.1109/tcds.2020.2968056
10.1016/j.automatica.2015.02.029
10.1177/027836499401300104
10.1109/TAC.2006.890321
10.1109/TMECH.2003.809133
10.1109/tsmcb.2008.2002851
10.1109/tro.2004.837240
10.1109/tcyb.2015.2477606
10.1049/iet-cta.2009.0052
10.1109/tac.2018.2793458
ContentType Journal Article
Copyright Copyright © 2020 Fujie Wang et al.
COPYRIGHT 2020 John Wiley & Sons, Inc.
Copyright © 2020 Fujie Wang et al. This is an open access article distributed under the Creative Commons Attribution License (the “License”), which permits unrestricted use, distribution, and reproduction in any medium, provided the original work is properly cited. Notwithstanding the ProQuest Terms and Conditions, you may use this content in accordance with the terms of the License. https://creativecommons.org/licenses/by/4.0
Copyright_xml – notice: Copyright © 2020 Fujie Wang et al.
– notice: COPYRIGHT 2020 John Wiley & Sons, Inc.
– notice: Copyright © 2020 Fujie Wang et al. This is an open access article distributed under the Creative Commons Attribution License (the “License”), which permits unrestricted use, distribution, and reproduction in any medium, provided the original work is properly cited. Notwithstanding the ProQuest Terms and Conditions, you may use this content in accordance with the terms of the License. https://creativecommons.org/licenses/by/4.0
DBID ADJCN
AHFXO
AHMDM
RHU
RHW
RHX
AAYXX
CITATION
3V.
7XB
8FE
8FG
8FK
8G5
ABUWG
AFKRA
ARAPS
AZQEC
BENPR
BGLVJ
CCPQU
DWQXO
GNUQQ
GUQSH
HCIFZ
JQ2
K7-
M2O
MBDVC
P5Z
P62
PHGZM
PHGZT
PKEHL
PQEST
PQGLB
PQQKQ
PQUKI
PRINS
Q9U
DOA
DOI 10.1155/2020/8836468
DatabaseName الدوريات العلمية والإحصائية - e-Marefa Academic and Statistical Periodicals
معرفة - المحتوى العربي الأكاديمي المتكامل - e-Marefa Academic Complete
قاعدة العلوم الإنسانية - e-Marefa Humanities
Hindawi Publishing Complete
Hindawi Publishing Subscription Journals
Hindawi Publishing Open Access
CrossRef
ProQuest Central (Corporate)
ProQuest Central (purchase pre-March 2016)
ProQuest SciTech Collection
ProQuest Technology Collection
ProQuest Central (Alumni) (purchase pre-March 2016)
ProQuest Research Library
ProQuest Central (Alumni)
ProQuest Central UK/Ireland
Advanced Technologies & Aerospace Collection
ProQuest Central Essentials
ProQuest Central
Technology Collection
ProQuest One Community College
ProQuest Central Korea
ProQuest Central Student
Research Library Prep
ProQuest SciTech Premium Collection
ProQuest Computer Science Collection
Computer Science Database
Proquest Research Library
Research Library (Corporate)
Advanced Technologies & Aerospace Database
ProQuest Advanced Technologies & Aerospace Collection
ProQuest Central Premium
ProQuest One Academic (New)
ProQuest One Academic Middle East (New)
ProQuest One Academic Eastern Edition (DO NOT USE)
ProQuest One Applied & Life Sciences
ProQuest One Academic
ProQuest One Academic UKI Edition
ProQuest Central China
ProQuest Central Basic
Directory of Open Access Journals (DOAJ)
DatabaseTitle CrossRef
Research Library Prep
Computer Science Database
ProQuest Central Student
Technology Collection
ProQuest One Academic Middle East (New)
ProQuest Advanced Technologies & Aerospace Collection
ProQuest Central Essentials
ProQuest Computer Science Collection
ProQuest Central (Alumni Edition)
SciTech Premium Collection
ProQuest One Community College
Research Library (Alumni Edition)
ProQuest Central China
ProQuest Central
ProQuest One Applied & Life Sciences
ProQuest Central Korea
ProQuest Research Library
ProQuest Central (New)
Advanced Technologies & Aerospace Collection
ProQuest Central Basic
ProQuest One Academic Eastern Edition
ProQuest Technology Collection
ProQuest SciTech Collection
Advanced Technologies & Aerospace Database
ProQuest One Academic UKI Edition
ProQuest One Academic
ProQuest One Academic (New)
ProQuest Central (Alumni)
DatabaseTitleList
Research Library Prep


CrossRef
Database_xml – sequence: 1
  dbid: RHX
  name: Hindawi Publishing Open Access
  url: http://www.hindawi.com/journals/
  sourceTypes: Publisher
– sequence: 2
  dbid: DOA
  name: DOAJ Directory of Open Access Journals
  url: https://www.doaj.org/
  sourceTypes: Open Website
– sequence: 3
  dbid: 8FG
  name: ProQuest Technology Collection
  url: https://search.proquest.com/technologycollection1
  sourceTypes: Aggregation Database
DeliveryMethod fulltext_linktorsrc
Discipline Sciences (General)
Mathematics
EISSN 1099-0526
Editor Wang, Ning
Editor_xml – sequence: 1
  givenname: Ning
  surname: Wang
  fullname: Wang, Ning
EndPage 13
ExternalDocumentID oai_doaj_org_article_77e2ddd7a18241dcbb785585ffbf5c62
A831733335
10_1155_2020_8836468
1144776
GrantInformation_xml – fundername: Natural Science Foundation of Guangdong Province
  grantid: 2019A1515010493
– fundername: Basic and Applied Basic Program of Guangdong Province
  grantid: 2019A1515110477; 2019A1515110476; 2019B1515120076
– fundername: Innovation Talent Program for Young Scholars of Guangdong Province
  grantid: 2018KQNCX252; 2018KTSCX226
– fundername: Dongguan University of Technology
  grantid: GC300501-113; GC300501-111
GroupedDBID .3N
.DC
.GA
.Y3
05W
0R~
10A
1L6
1OC
24P
31~
33P
3R3
3SF
3V.
3WU
4.4
4ZD
50Y
50Z
51W
51X
52M
52N
52O
52P
52S
52T
52U
52W
52X
5GY
5VS
66C
702
7PT
8-0
8-1
8-3
8-4
8-5
8FE
8FG
8G5
8UM
930
A03
AAESR
AAEVG
AAFWJ
AAHHS
AAJEY
AAONW
ABCQN
ABEML
ABIJN
ABPVW
ABUWG
ACBWZ
ACCFJ
ACSCC
ACXQS
ADBBV
ADIZJ
ADJCN
ADZOD
AEEZP
AEIMD
AENEX
AEQDE
AFBPY
AFKRA
AFPKN
AFZJQ
AHFXO
AHMDM
AIWBW
AJBDE
AJXKR
ALAGY
ALMA_UNASSIGNED_HOLDINGS
AMBMR
ARAPS
ASPBG
ATUGU
AVWKF
AZBYB
AZFZN
AZQEC
AZVAB
BAFTC
BCNDV
BDRZF
BENPR
BFHJK
BGLVJ
BHBCM
BNHUX
BPHCQ
BROTX
BRXPI
BY8
CCPQU
CS3
D-E
D-F
DCZOG
DPXWK
DR2
DU5
DWQXO
EBD
EBS
EJD
F00
F01
F04
F5P
FEDTE
G-S
G.N
GNP
GNUQQ
GODZA
GROUPED_DOAJ
GUQSH
H.T
H.X
H13
HBH
HCIFZ
HF~
HHY
HVGLF
HZ~
IAO
ITC
IX1
J0M
JPC
K6V
K7-
KQQ
LAW
LC2
LC3
LH4
LP6
LP7
LW6
M2O
MK4
N04
N05
N9A
NF~
NNB
O66
O9-
OIG
OK1
P2P
P2W
P2X
P4D
P62
PQQKQ
PROAC
Q.N
Q11
QB0
QRW
R.K
RHX
ROL
RWI
RX1
RYL
SUPJJ
TUS
V2E
W8V
W99
WBKPD
WIH
WQJ
WRC
WYUIH
XBAML
XG1
XPP
XSW
XV2
~IA
~WT
RHU
RHW
AAYXX
ACCMX
AMVHM
CITATION
ICD
PHGZM
PHGZT
PMFND
7XB
8FK
AAMMB
AEFGJ
AGXDD
AIDQK
AIDYY
JQ2
MBDVC
PKEHL
PQEST
PQGLB
PQUKI
PRINS
Q9U
PUEGO
ID FETCH-LOGICAL-c493t-a3c5f9174498283695d5da04abee6519bfd13d0aa26b6f382cb37cc23b8cf25b3
IEDL.DBID BENPR
ISSN 1076-2787
IngestDate Wed Aug 27 01:18:40 EDT 2025
Fri Jul 25 21:04:46 EDT 2025
Tue Jun 17 21:57:14 EDT 2025
Tue Jun 10 20:57:39 EDT 2025
Tue Jul 01 02:02:03 EDT 2025
Thu Apr 24 23:02:09 EDT 2025
Sun Jun 02 18:54:57 EDT 2024
Thu Nov 28 18:43:42 EST 2024
IsDoiOpenAccess true
IsOpenAccess true
IsPeerReviewed true
IsScholarly true
Issue 2020
Language English
License This is an open access article distributed under the Creative Commons Attribution License, which permits unrestricted use, distribution, and reproduction in any medium, provided the original work is properly cited.
https://creativecommons.org/licenses/by/4.0
LinkModel DirectLink
MergedId FETCHMERGED-LOGICAL-c493t-a3c5f9174498283695d5da04abee6519bfd13d0aa26b6f382cb37cc23b8cf25b3
Notes ObjectType-Article-1
SourceType-Scholarly Journals-1
ObjectType-Feature-2
content type line 14
ORCID 0000-0002-8517-1137
0000-0003-3756-1672
OpenAccessLink https://doaj.org/article/77e2ddd7a18241dcbb785585ffbf5c62
PQID 2469678599
PQPubID 2029978
PageCount 13
ParticipantIDs doaj_primary_oai_doaj_org_article_77e2ddd7a18241dcbb785585ffbf5c62
proquest_journals_2469678599
gale_infotracmisc_A831733335
gale_infotracacademiconefile_A831733335
crossref_primary_10_1155_2020_8836468
crossref_citationtrail_10_1155_2020_8836468
hindawi_primary_10_1155_2020_8836468
emarefa_primary_1144776
ProviderPackageCode CITATION
AAYXX
PublicationCentury 2000
PublicationDate 2020-12-04
PublicationDateYYYYMMDD 2020-12-04
PublicationDate_xml – month: 12
  year: 2020
  text: 2020-12-04
  day: 04
PublicationDecade 2020
PublicationPlace Cairo, Egypt
PublicationPlace_xml – name: Cairo, Egypt
– name: Hoboken
PublicationTitle Complexity (New York, N.Y.)
PublicationYear 2020
Publisher Hindawi Publishing Corporation
Hindawi
John Wiley & Sons, Inc
Wiley
Publisher_xml – name: Hindawi Publishing Corporation
– name: Hindawi
– name: John Wiley & Sons, Inc
– name: Wiley
References 22
44
25
H. Loulin (23) 2009; 3
J. R. García-Sánchez (3) 2017; 2017
28
29
N. Sarkar (26) 1992; 13
C. Wang (30)
W. E. Dixon (39) 2007; 52
G. D. Hager (9) 1996; 12
Y. Shen (13) 2003; 8
C. Yang (7) 2019; 30
J. Ling (14)
31
10
32
H. Chen (5) 2018; 2018
11
33
12
34
35
36
37
16
H. Kwon (17)
18
19
G. Corradini (27) 2001; 18
Y.-H. Liu (8) 2006; 22
X. Liang (24)
1
2
4
F. Wang (42) 2019; 29
6
X. Zhang (15)
Y. Kong (45) 2019; 2019
Z.-G. Hou (38) 2009; 17
40
41
20
21
43
References_xml – volume: 30
  start-page: 777
  issue: 3
  year: 2019
  ident: 7
  article-title: Robot learning system based on adaptive neural control and dynamic movement primitives
  publication-title: IEEE Transactions on Neural Networks and Learning Systems
  doi: 10.1109/TNNLS.2018.2852711
– start-page: 8428
  ident: 15
  article-title: Visual servoing of nonholonomic mobile robots based on a new motion estimation technique
– ident: 21
  doi: 10.1002/asjc.826
– ident: 19
  doi: 10.1109/tie.2016.2598526
– ident: 33
  doi: 10.1109/tmech.2018.2836394
– volume: 12
  start-page: 651
  year: 1996
  ident: 9
  article-title: Special section on vision-based control of robot manipulators
  publication-title: IEEE Trans Robotics Automation
– volume: 2017
  year: 2017
  ident: 3
  article-title: Tracking control for mobile robots considering the dynamics of all their subsystems: experimental implementation
  publication-title: Complexity
– volume: 17
  start-page: 803
  issue: 4
  year: 2009
  ident: 38
  article-title: Adaptive control of an electrically driven nonholonomic mobile robot via backstepping and fuzzy approach
  publication-title: IEEE Transactions on Robotics
– volume: 18
  start-page: 317
  issue: 6
  year: 2001
  ident: 27
  article-title: Robust tracking control of mobile robots in the presence of uncertainties in the dynamical model
  publication-title: Journal of Robotic Systems
  doi: 10.1002/rob.1026
– ident: 29
  doi: 10.1109/tie.2018.2803773
– ident: 11
  doi: 10.1109/tro.2004.829456
– volume: 29
  start-page: 4149
  issue: 12
  year: 2019
  ident: 42
  article-title: Synchronized adaptive control for coordinating manipulators with time-varying actuator constraint and uncertain dynamics
  publication-title: International Journal of Robust and Nonlinear Control
  doi: 10.1002/rnc.4622
– ident: 4
  doi: 10.1016/j.ins.2008.09.012
– start-page: 4384
  ident: 30
  article-title: Dynamic feedback robust regulation of nonholonomic mobile robots based on visual servoing
– ident: 31
  doi: 10.1016/s1874-1029(11)60211-5
– volume: 2018
  year: 2018
  ident: 5
  article-title: Finite-time switching control of nonholonomic mobile robots for moving target tracking based on polar coordinates
  publication-title: Complexity
  doi: 10.1155/2018/7360643
– ident: 10
  doi: 10.1109/lra.2018.2807592
– ident: 16
  doi: 10.1017/s0263574719001115
– ident: 18
  doi: 10.1109/tmech.2015.2504098
– ident: 25
  doi: 10.1109/tcst.2015.2411627
– ident: 1
  doi: 10.1109/lra.2019.2959442
– ident: 6
  doi: 10.1109/70.880812
– start-page: 5489
  ident: 14
  article-title: Visual tracking strategy of a wheeled mobile robot and a multi-dof crane equipped with a camera
– ident: 44
  doi: 10.1007/s40815-018-00604-8
– ident: 22
  doi: 10.2316/journal.206.2011.1.206-3381
– ident: 40
  doi: 10.1109/tmech.2015.2388555
– ident: 43
  doi: 10.1109/access.2020.2970468
– ident: 2
  doi: 10.3390/app10031135
– ident: 32
  doi: 10.1109/3477.931519
– volume: 22
  start-page: 804
  issue: 4
  year: 2006
  ident: 8
  article-title: Uncalibrated visual servoing of robots using a depth-independent interaction matrix
  publication-title: IEEE Transactions on Neural Networks and Learning Systems
– volume: 2019
  year: 2019
  ident: 45
  article-title: A repeatable optimization for kinematic energy system with its mobile manipulator application
  publication-title: Complexity
  doi: 10.1155/2019/8642027
– ident: 12
  doi: 10.1109/tra.2003.820923
– ident: 20
  doi: 10.1109/tsmc.2020.2967786
– ident: 41
  doi: 10.1109/tcds.2020.2968056
– ident: 35
  doi: 10.1016/j.automatica.2015.02.029
– volume: 13
  start-page: 55
  issue: 1
  year: 1992
  ident: 26
  article-title: Control of mechanical systems with rolling constraints application to dynamic control of mobile robots
  publication-title: International Journal of Robotics Research
  doi: 10.1177/027836499401300104
– volume: 52
  start-page: 488
  issue: 3
  year: 2007
  ident: 39
  article-title: Adaptive regulation of amplitude limited robot manipulators with uncertain kinematics and dynamics
  publication-title: IEEE Transactions on Automatic Control
  doi: 10.1109/TAC.2006.890321
– volume: 8
  start-page: 87
  issue: 1
  year: 2003
  ident: 13
  article-title: Asymptotic trajectory tracking of manipulators using uncalibrated visual feedback
  publication-title: IEEE/ASME Transactions on Mechatronics
  doi: 10.1109/TMECH.2003.809133
– start-page: 2877
  ident: 17
  article-title: Person tracking with a mobile robot using two uncalibrated independently moving cameras
– ident: 28
  doi: 10.1109/tsmcb.2008.2002851
– start-page: 6199
  ident: 24
  article-title: Adaptive image-based visual servoing of wheeled mobile robots with fixed camera configuration
– ident: 37
  doi: 10.1109/tro.2004.837240
– ident: 34
  doi: 10.1109/tcyb.2015.2477606
– volume: 3
  start-page: 1565
  issue: 12
  year: 2009
  ident: 23
  article-title: Control approach for tracking a moving target by a wheeled mobile robot with limited velocities
  publication-title: Iet Control Theory & Applications
  doi: 10.1049/iet-cta.2009.0052
– ident: 36
  doi: 10.1109/tac.2018.2793458
SSID ssj0009637
Score 2.2505097
Snippet This paper investigates the stabilization and trajectory tracking problem of wheeled mobile robot with a ceiling-mounted camera in complex environment. First,...
SourceID doaj
proquest
gale
crossref
hindawi
emarefa
SourceType Open Website
Aggregation Database
Enrichment Source
Index Database
Publisher
StartPage 1
SubjectTerms Adaptive control
Analysis
Calibration
Cameras
Complexity
Controllers
Dynamic control
Feedback control
Kinematics
Parameter uncertainty
Robot control
Robots
Sensors
Servocontrol
Simulation methods
Tracking control
Tracking problem
Velocity
Visual control
SummonAdditionalLinks – databaseName: Directory of Open Access Journals (DOAJ)
  dbid: DOA
  link: http://utb.summon.serialssolutions.com/2.0.0/link/0/eLvHCXMwrV1Na9wwEBUlUGgOpUm_tt0WHVLaEExs68PycRsSQmFLKd2QmxhJFg2Ydchu6Mev74wtbxJKyaXH9Qrbsp7evBGjJ8b2mqAKjco3kxB9Jl2tMgNOZLryUUWBGTTQ0sD8sz5dyE_n6vzWUV9UEzbYAw8f7rCqmjKEUAEKYVkE71xlFGrcGF1UfmBfjHljMjXa7ereLRNzG52ViMmx5F0pyvbzQ2OElmSveisY9Z79_cZcwN-w4eiH3yk7_nHxF1v3IejkCXuctCOfDe-8wx40y122Pd8Yr6522U6aqyv-IRlK7z9lv2cBLonW-NnF6hra9hcniuiawDFUeVos50dDyTpHDcuRoDEYBT7vHHIG_9q5bs1pwZYv8NZ9CQGnM9Ra_gWotosMOjleI25pm5_8-Gbz3DO2ODn-dnSapTMXMi9rsc5AeBUxhZOyxlxM6FoFFSCX4JpGo9pzMRQi5ACldjoKU3onKu9L4YyPpXLiOdtadsvmJeN1DgYFkIighZQuBwfChAoFQSyKUKsJOxg_vvXJkJzOxWhtn5goZWmobBqqCXu3aX05GHH8o91HGsdNG7LP7i8gqGwClb0PVBP2IqHg5lmYeVaVnrD3hApL0x9f1kPaxYBdJiMtOzMoyBDiArs3vdMSp62_8_dewtU93ZmOoLOJXVa2lLpGkaHq-tX_6O1r9oge2RfpyCnbWl9dN29Qaq3d235W_QEzXyFO
  priority: 102
  providerName: Directory of Open Access Journals
– databaseName: Hindawi Publishing Open Access
  dbid: RHX
  link: http://utb.summon.serialssolutions.com/2.0.0/link/0/eLvHCXMwjV1bi9QwFA7ugqAP4q630VHysKIixba5NH0cl10GYUTEkXkLJ0nDLpTpYmfx8us9p5OZYVxEH5OmadOc25eefGHspAmq0Bj5ZhKiz6SrVWbAiUxXPqooEEEDLQ3MPurpXH5YqEUiSepv_sJHb0fwPH9njNBSmwN2gAJGoHy62HHr6oEaE4GMzkoUwE1--x_37nmegaB_2IULWIatQb59QVD4--UN0zz4m_P77F4KFPlkPbNH7FazPGZ3Z1uW1f6YHSXF7PnrxB795gH7NQlwRTaMf73sr6Ftf3KyB10TOPolTyvj_HSdn84xYOVojdHzBD7rHBoI_rlz3YrT6iyfY9dDvgCnA9Na_gkokYvYODnWkSFpmx_8bLdT7iGbn599OZ1m6YCFzMtarDIQXkXEa1LWCLyErlVQAXIJrmk0hnYuhkKEHKDUTkdhSu9E5X0pnPGxVE48YofLbtk8YbzOwWC0IyJoIaXLwYEwoULvH4si1GrE3m4-vvWJfZwOwWjtgEKUsjRVNk3ViL3ctr5as278pd17msdtG-LKHipQfmxSPVtVTRlCqAChlCyCd64yClFSjC4qr8sRe5ykYPcshJlVpUfsFUmFJV3Hl_WQtizgkIk1y04MRl8ozwKHN95riTrq9y6fJLn6x3DGG6GzyZT0tpS6xohC1fXT_-vlGbtDxSHnRo7Z4erbdfMcI6eVezHozW8_Rw2t
  priority: 102
  providerName: Hindawi Publishing
Title Adaptive Visually Servoed Tracking Control for Wheeled Mobile Robot with Uncertain Model Parameters in Complex Environment
URI https://search.emarefa.net/detail/BIM-1144776
https://dx.doi.org/10.1155/2020/8836468
https://www.proquest.com/docview/2469678599
https://doaj.org/article/77e2ddd7a18241dcbb785585ffbf5c62
Volume 2020
hasFullText 1
inHoldings 1
isFullTextHit
isPrint
link http://utb.summon.serialssolutions.com/2.0.0/link/0/eLvHCXMwhV3daxNBEF9siqAPYutXNIZ9qKjI0bvbj9t7krQkBiGlBCN5O_bjthaOXNpLqfrXO3PZJBZRXwK5Wy7Z7Mxv5zeZ_Q0hR6UTiYTIN-La24ibXERKGxbJzHrhGTBojamByZkcz_jnuZiHhFsTyio3mNgCtast5siPU-BxAKwizz8uryLsGoX_roYWGntkHyBYiQ7ZPxmenU93sruyVc0EjiOjFGxzU_ouBLL--FgpJjnKrP62KbXa_e0BXQ3v9Rar739Dlnx7-Qdqt1vR6DF5FGJIOlgv-gG5Vy4OycPJVoC1OSQHwWcb-i4IS79_Qn4OnF4ivNGvl82NrqofFKGiLh2FLcti0pyerkvXKcSyFIAaNiVHJ7UB7KDT2tQriolbOoNHt6UEFHupVfRcY40XCnVSuIYYU5Xf6XB3iO4pmY2GX07HUei9EFmes1WkmRUeqBznOXAyJnPhhNMx16YsJUR9xruEuVjrVBrpmUqtYZm1KTPK-lQY9ox0FvWifEFoHmsFgRDzWjLOTayNZsplEBj4JHG56JIPmx-_sEGYHPtjVEVLUIQocKmKsFRd8mY7erkW5PjLuBNcx-0YlNFuL9TXF0XwyiLLytQ5l2lgWTxx1hiwMCBQ3hsvrEy75Hmwgt1nAQPNMtklb9EqCoQB-LJWh9MMMGUU1CoGCgIzMHUG0-vdGQnua-_cPgp29Z_p9DZGVwSUaYqdT7z89-1X5AE-rC3D4T3SWV3flK8hmFqZPtlTo0_94Df9NiUBr9Px_BdU-Rxd
linkProvider ProQuest
linkToHtml http://utb.summon.serialssolutions.com/2.0.0/link/0/eLvHCXMwtV1Lb9NAEF6VVohyQLS8AgH20AoQsup4H7YPCKUlVUqbqKqaqrdlH95SKYpDk6qUH8VvZMZZJ1QIOPVoe7X2Zme-mW8yO0PIRuFES4LnG3HtbcRNLqJMGxbJ1HrhGTBojaGBXl92B_zzqThdIj_rszCYVlljYgXUrrQYI99KgMcBsIo8_zj-FmHXKPx3tW6hMROL_eL6Cijb5MPeJ9jfzSTZ7RzvdKPQVSCyPGfTSDMrPJAUznNgG0zmwgmnY65NUUjwZ4x3LeZirRNppGdZYg1LrU2YyaxPhGEw7x2yAm5GDlq0st3pHx4tyvzKqkoncCoZJaALdaq9EBhliLcyeCHHsq6_GcGqV0B1IFjDtZ7bhrtfkZVfnf9hJSrTt_uQPAg-K23PhGyNLBWjdXK_Ny_4OlknawEjJvRtKGT97hH50XZ6jHBKT84nl3o4vKYITWXhKJhIi0F6ujNLlafgO1MwDGAEHe2VBrCKHpWmnFIMFNMBTF2lLlDs3TakhxpzyrAwKIV7iGnD4jvtLA7tPSaDW9mVJ2R5VI6KZ4Tmsc7A8WJeS8a5ibXRLHMpOCK-1XK5aJD39Y-vbCiEjv04hqoiREIo3CoVtqpBNuejx7MCIH8Zt437OB-DZburG-XFmQoooNK0SJxzqQZWx1vOGgMSDYTNe-OFlUmDPA1SsHgXMN40lQ3yBqVCIezAx1odTk_AkrGAl2pn4AiCajFYXvPGSIALe-PxRpCr_yynWQudCqg2UQsdfP7vx6_Jve5x70Ad7PX3X5BVnLhKAeJNsjy9uCxegiM3Na-C9lDy5bYV9hcMF1bi
openUrl ctx_ver=Z39.88-2004&ctx_enc=info%3Aofi%2Fenc%3AUTF-8&rfr_id=info%3Asid%2Fsummon.serialssolutions.com&rft_val_fmt=info%3Aofi%2Ffmt%3Akev%3Amtx%3Ajournal&rft.genre=article&rft.atitle=Adaptive+Visually+Servoed+Tracking+Control+for+Wheeled+Mobile+Robot+with+Uncertain+Model+Parameters+in+Complex+Environment&rft.jtitle=Complexity+%28New+York%2C+N.Y.%29&rft.au=Wang%2C+Fujie&rft.au=Qin%2C+Yi&rft.au=Guo%2C+Fang&rft.au=Ren%2C+Bin&rft.date=2020-12-04&rft.pub=John+Wiley+%26+Sons%2C+Inc&rft.issn=1076-2787&rft.eissn=1099-0526&rft.volume=2020&rft_id=info:doi/10.1155%2F2020%2F8836468
thumbnail_l http://covers-cdn.summon.serialssolutions.com/index.aspx?isbn=/lc.gif&issn=1076-2787&client=summon
thumbnail_m http://covers-cdn.summon.serialssolutions.com/index.aspx?isbn=/mc.gif&issn=1076-2787&client=summon
thumbnail_s http://covers-cdn.summon.serialssolutions.com/index.aspx?isbn=/sc.gif&issn=1076-2787&client=summon