摘要
The visual serving stabilization for a kind of nonholonomic mobile robots with uncalibrated camera parameters is investigated based on the visual feedback and the state and input transforma- tions. The authors obtain a new uncertain model of the nonholonomic kinematic system in the image plane, which is a chained form with uncalibrated visual parameters, from the camera robotic system. A new time varying feedback controller is proposed for the exponential stabilization of the nonholonomic chained system with unknown parameters by using state-scaling and switching technique. The exponential stability of the closed loop system is rigorously proved. Simulation results demonstrate the effectiveness of the proposed methods.
基金
supported by the National Science Foundation under Grant No.60874002
Key Project of Shanghai Education Committee under Grant No.09ZZ158
Key Discipline of Shanghai under Grant No.S30501
Doctoral Fund of Shandong University of Technology under Grant No.411016
