Exponential Stabilization of Uncertain Chained Systems of Nonholonomic Robots Based On Visual Feedback


Yujing Xu, Zhenying Liang, Lili Dong
School of Science, Shandong University of Technology, Zibo, China.


The exponential stabilization problem for a kind of nonholonomic wheeled mobile robots with uncertain camera parameters is analyzed based on the visual feedback. Firstly, a model of uncertain chained form system of type (2,1) mobile robot is presented by using the state input transformations. Then, two kinds of controllers are designed by using the auxiliary variable method and the input control method. This two kinds of controllers not only overcome the limit of the initial status of the system but also have high unification. Simulation results demonstrate the effectiveness of the proposed strategies.