Finite-time saturated stabilization of nonholonomic mobile robots based on visual servoing

Abstract

The saturated finite-time stabilization problem is considered in this paper for a class of nonholonomic mobile robots based on visual servoing with uncertain camera parameters.By applying the multi-step control strategy and the theory of finite-time stability,a piecewise continuous and saturated control law is presented,which can stabilize the closed-loop system to the origin equilibrium point in a finite time.Finally,the simulation results show the effectiveness of the proposed control design approach.