Title: Robust exponential stabilization of nonholonomic kinematic systems with uncalibrated visual parameters
Abstract: The visual servoing stabilization of nonholonomic mobile robots with uncertain camera parameters is investigated based on the visual feedback and the common chained form of type(1,2)mobile robot.A new uncertain model of nonholonomic kinematic systems in the image plane for this kind of robots is obtained,which is a chained form with uncalibrated visual parameters.A novel time varying feedback controller is proposed for exponentially stabilizing the nonholonomic chained system with unknown parameters with help of state-scaling and switching technique.The exponential stability of the closed loop system is rigorously proved.Simulation results show the effectiveness of the proposed methods.
Publication Year: 2011
Publication Date: 2011-01-01
Language: en
Type: article
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