Abstract
The practical stabilization problem is addressed for a class of uncertain nonholonomic mobile robots with uncalibrated visual parameters. Based on the visual servoing kinematic model, a new switching controller is presented in the presence of parametric uncertainties associated with the camera system. In comparison with existing methods, the new design method is directly used to control the original system without any state or input transformation, which is effective to avoid singularity. Under the proposed control law, it is rigorously proved that all the states of closed-loop system can be stabilized to a prescribed arbitrarily small neighborhood of the zero equilibrium point. Furthermore, this switching control technique can be applied to solve the practical stabilization problem of a kind of mobile robots with uncertain parameters (and angle measurement disturbance) which appeared in some literatures such as Morin et al. (1998), Hespanha et al. (1999), Jiang (2000), and Hong et al. (2005). Finally, the simulation results show the effectiveness of the proposed controller design approach.
Highlights
For the last few decades, the problem of control of nonholonomic systems has been studied by many researchers and has attracted a continuously increasing attention in the control community
In [13], an adaptive sliding mode controller is designed to stabilize a class of uncertain dynamic mobile robots in the presence of parametric uncertainties of the camera system
These above existing approaches [2,3,4,5,6,7,8,9,10,11,12,13,14,15] are invalid when we deal with the robust stabilization problem for such nonholonomic mobile robots with assuming that all the camera parameters are unknown
Summary
For the last few decades, the problem of control of nonholonomic systems has been studied by many researchers and has attracted a continuously increasing attention in the control community. Based on the visual servoing feedback model, a new robust control issue is considered in [12] for uncertain nonholonomic mobile robots with uncalibrated camera parameters. This paper considers the practical stabilization problem for a class of nonholonomic mobile robots based on visual servoing feedback with uncalibrated visual parameters. (3) The switching controller design method can be used to solve the practical stabilization problem of a kind of nonholonomic mobile robots with uncertain parameters and angle measurement disturbance raised by [20,21,22,23] and references therein.
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