Adaptive stabilization for nonholonomic mobile robots with uncertain dynamics and unknown visual parameters

摘要

The visual servoing feedback torque stabilization controller of a nonholonomic mobile robot is developed in this paper. Firstly, a camera-object visual servoing kinematic model is introduced and a kinematic stabilizing controller is designed for the kinematic model. Then, an adaptive torque stabilizing controller is proposed in the presence of parametric uncertainties associated with the mechanical dynamics and the camera system. The stability of the proposed control system is rigorously proved through the Lyapunov method. Simulation results are provided to illustrate the performance of the control law.