Global Finite-Time Stabilization for Nonholonomic Mobile Robots Based on Visual Servoing:

International Journal of Advanced Robotic Systems

HuaChen¹ 

关键词: Nonholonomic Mobile Robots;    Chained-form System;    Visual Servoing;    Finite-time Stabilization;    Switching Control;   

DOI  :  10.5772/59307

学科分类：自动化工程

来源: InTech

【 摘 要 】

In this paper, the global finite-time stabilization problem is considered for nonholonomic mobile robots based on visual servoing with uncalibrated visual parameters, control direction and unmatched external disturbances. Firstly, the simple dynamic chained-form systems is obtained by using a state and input transformation of the kinematic robot systems. Secondly, a new discontinuous switching controller is presented in the presence of uncertainties and disturbances, it is rigorously proved that the corresponding closed-loop system can be stabilized to the origin equilibrium point in a finite time. Finally, the simulation results show the effectiveness of the proposed control design approach.

【 授权许可】

CC BY