The Exponential Stabilization of Uncertain Chained Form Systems of Mobile Robots Based on Visual Servoing |
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| Authors: | Zhenying Liang Chaoli Wang |
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| Institution: | 1.Science School,Shandong University of Technology,Zibo,China;2.Optical-Electrical and Computer Engineering Department,University of Shanghai for Science and Technology,Shanghai,China |
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| Abstract: | A system for a type of nonholonomic wheeled mobile robots equipped with an uncalibrated camera fixed to the ceiling is investigated. Based on the visual feedback and the state-input transformation, models of uncertain chained form systems are presented for the robot-camera systems. Then, new smooth time-varying feedback controllers are proposed to exponentially stabilize the uncertain chained system by using state-scaling and control theories for two cases. The exponential stabilities of the closed-loop uncertain systems are rigorously proved. Simulation results demonstrate the effectiveness of the proposed strategies. |
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