Robust exponential stabilization of nonholonomic wheeled mobile robots with unknown visual parameters

摘要

The visual servoing stabilization of nonholonomic mobile robot with unknown camera parameters is investigated.A new kind of uncertain chained model of nonholonomic kinemetic system is obtained based on the visual feedback and the standard chained form of type (1,2) mobile robot.Then,a novel time-varying feedback controller is proposed for exponentially stabilizing the position and orientation of the robot using visual feedback and switching strategy when the camera parameters are not known.The exponential s...