Robust Saturated Finite-time Stabilization for Nonholonomic Mobile Robots Based on Visual Serving Feedback

摘要：

In this paper, the robust saturated stabilization problem is considered for a class of nonholonomic mobile robots based on visual servoing feedback with uncalibrated camera parameters. In comparison with existing methods, the new design method is directly based on the original inputs of the original systems, i.e., the saturated practical inputs instead of the transformed inputs. A piecewise continuous and bounded control law is presented by applying the multi-step switch control strategy and the theory of .nite-time stability. The controller can stabilize the nonholonomic robots to the equilibrium point in a .nite time. Finally, the simulation results show the effectiveness of the proposed control approach.

关键词： Nonholonomic mobile robots visual serving .nite-time stabilization inputs saturation

作者: Hua Chen Chaoli Wang Dongkai Zhang Fang Yang

作者单位: Control Science and Engineering Department, University of Shanghai for Science and Technology, Shang Control Science and Engineering Department, University of Shanghai for Science and Technology, Shang

会议类型: 国际会议

会议名称: The 24th Chinese Control and Decision Conference (第24届中国控制与决策学术年会 2012 CCDC)

会议地点: 太原

会议语种:英文

页码: 1280-1284

在线出版日期: 2012-05-23（万方平台首次上网日期，不代表论文的发表时间）