Robust exponential stabilization of nonholonomic chained systems with uncertain visual parameters

摘要

The visual servoing stabilization of nonholonomic mobile robot with uncertain camera parameters is investigated in this paper. Based on the visual feedback and the state and input transformations, we obtain a novel uncertain model of nonholonomic kinematic system in the image plane for type (1,2) mobile robot firstly, which is a new kind of chained form with uncertainties. Then a new time varying feedback controller is proposed for exponentially stabilizing the nonholonomic uncertain chained systems with the help of the state-scaling and switching technique. The exponential stability of the closed loop system is rigorously proved. Simulation results demonstrate the effectiveness of the proposed method.