Abstract
In this paper, the global finite-time stabilization problem is considered for nonholonomic mobile robots based on visual servoing with uncalibrated visual parameters, control direction and unmatched external disturbances. Firstly, the simple dynamic chained-form systems is obtained by using a state and input transformation of the kinematic robot systems. Secondly, a new discontinuous switching controller is presented in the presence of uncertainties and disturbances, it is rigorously proved that the corresponding closed-loop system can be stabilized to the origin equilibrium point in a finite time. Finally, the simulation results show the effectiveness of the proposed control design approach.
Highlights
Addressing the stabilization problem of nonholonomic systems is a challenging task which has attracted a continuously increasing attention in the control community
As a typical model of the nonholonomic system, the nonholonomic characteristic of wheeled mobile robots arises from the wheel which is rolling without slipping
Based on visual servoing model, a new robust control issue is considered in [25]-[31] for nonholonomic mobile robots with uncalibrated camera parameters.Under a single camera fixed on the ceiling, the trajectory tracking and point stabilization problems are discussed for the kinematic model with uncertain
Summary
Addressing the stabilization problem of nonholonomic systems is a challenging task which has attracted a continuously increasing attention in the control community. Based on visual servoing model, a new robust control issue is considered in [25]-[31] for nonholonomic mobile robots with uncalibrated camera parameters.Under a single camera fixed on the ceiling, the trajectory tracking and point stabilization (practical stabilization) problems are discussed for the kinematic model with uncertain. In [26], a new time varying feedback controller is proposed for the exponential stabilization of the nonholonomic chained system with unknown parameters by using state-scaling and switching technique, in [29], the authors have presented a robust adaptive tracking controller for the dynamic mobile robots system.
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