Practical Stabilization of Uncertain Nonholonomic Mobile Robots Based on Visual Servoing Model with Uncalibrated Camera Parameters

摘要：

In this paper, 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 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. Finally, the simulation results show the effectiveness of the proposed controller design approach.

关键词： Nonholonomic mobile robots visual servoing practical stabilization switching control

作者: Hua Chen Chaoli Wang Baojun Li Baolei Wang

作者单位: University of Shanghai for Science and Technology, Shanghai, 200093, P. R. China Mathematics and Phy University of Shanghai for Science and Technology, Shanghai, 200093, P. R. China Mathematics and Physics Department, Hohai University, Changzhou Campus, Changzhou, Jiangsu, 213022,

会议类型: 国际会议

会议名称: The 31st Chinese Control Conference(第三十一届中国控制会议)

会议地点: 合肥

会议语种:英文

页码: 4406-4411

在线出版日期: 2012-07-01（万方平台首次上网日期，不代表论文的发表时间）