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| Received:January 19, 2009Revised:February 24, 2010 |
| 基金项目:This paper was supported by the National Science Foundation (No. 60874002), the Key Project of Shanghai Education Committee (No. 09ZZ158), the Shanghai Leading Academic Discipline Project (No. S30501), and the Innovation Fund Project For Graduate Student of Shanghai (No. JWCXSL1001). |
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| Robust exponential stabilization of nonholonomic wheeled mobile robots with unknown visual parameters |
| Zhenying LIANG,Chaoli WANG |
| (Department of Control Science and Engineering, University of Shanghai for Science and Technology; School of Science, Shandong University of Technology) |
| Abstract: |
| The visual servoing stabilization of nonholonomic mobile robot with unknown camera parameters is investigated. A new kind of uncertain chained model of nonholonomic kinemetic system is obtained based on the visual feedback and the standard chained form of type (1, 2) mobile robot. Then, a novel time-varying feedback controller is proposed for exponentially stabilizing the position and orientation of the robot using visual feedback and switching strategy when the camera parameters are not known. The exponential stability of the closed-loop system is rigorously proven. Simulation results demonstrate the effectiveness of the method proposed in this paper. |
| Key words: Uncertain chained form Nonholonomic system Stabilization Visual feedback |
