Robust exponential stabilization of uncertain nonholonomic chained systems based on visual feedback |
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Authors: | Zhenying Liang Chaoli Wang |
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Institution: | 1. Department of Control Science and Engineering, University of Shanghai for Science and Technology, Shanghai, 200093, China 2. School of Science, Shandong University of Technology, Zibo, 255049, China
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Abstract: | The visual serving stabilization for a kind of nonholonomic mobile robots with uncalibrated camera parameters is investigated based on the visual feedback and the state and input transformations. The authors obtain a new uncertain model of the nonholonomic kinematic system in the image plane, which is a chained form with uncalibrated visual parameters, from the camera robotic system. A new time varying feedback controller is proposed for the exponential stabilization of the nonholonomic chained system with unknown parameters by using state-scaling and switching technique. The exponential stability of the closed loop system is rigorously proved. Simulation results demonstrate the effectiveness of the proposed methods. |
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