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

控制理论与应用（英文版） 2011年第2期9卷 295-301页

作者： Liang, Zhenying Wang, Chaoli Department of Control Science and Engineering University of Shanghai for Science and Technology Shanghai 200093 China School of Science Shandong University of Technology Zibo Shandong 255049 China

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 ***,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 *** exponential stability of the closed-loop system is rigorously *** results demonstrate the effectiveness of the method proposed in this paper.

关键词： uncertain chained form Nonholonomic system Stabilization Visual feedback

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Robust Stabilization of uncertain Kinematic Systems in Nonholonomic Mobile Robots with One Trailer

Robust Stabilization of Uncertain Kinematic Systems in Nonho...

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第二十九届中国控制会议

作者： WANG Chaoli1,YANG Fang2,LIU Yunhui3,LIANG Zhenying4 1.Control Science and Engineering Department,University of Shanghai for Science and Technology(USST),Shanghai 200093,P.R.China2.Business School,USST,Shanghai 200093 School of Science,Ningbo University of Technology,Ningbo 315211,P.R.China 3.Dept.of Mechanical and Automation Engineering,The Chinese University of Hong Kong,Satin,NT,Hong Kong,P.R.China4.Business School,USST,Shanghai 200093 School of Science,Shandong University of Technology,255049,P.R.China

Based on visual servoing feedback,this paper provides a novel uncertain model of the kinematic systems in nonholo-nomic mobile robots with one trailer with uncalibrated visual servoing *** strongly nonlinear disturbances and drift terms in its uncertain chained form of this model fails to meet the so called triangularity *** methods available in the literatures are not suitable to be used to investigate its stabilizing problem of the *** order to deal with this difficulty,the special structure of the systems is exploited to design the stabilizing controller,which is divided into three *** the first phase,a newly state transformation is exploited to propose a stabilizing controller to make most of the states of the system tends to zero only excepts one *** the second phase,the left state is stabilized and the other states remain little change by designing another *** the final phase,the control inputs can be set *** states remain ***,the simulation is presented to illustrate the stabilizing performance of the developed control algorithm.

关键词： Nonholonomic Kinematic Mobile Robot uncertain chained form Stabilization

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