Acceleration-Level Pseudo-Dynamic Visual Servoing of Mobile Robots With Backstepping and Dynamic Surface Control

In this paper, we propose an acceleration-level pseudo-dynamic visual servoing structure for the nonholonomic mobile robots, based on which we design two different adaptive controllers-backstepping and dynamic surface control (DSC) in the presence of unknown depth information. Different from existing kinematic controllers, which directly regard linear and angular velocities as control inputs, this paper designs acceleration control that is...