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

被引：0
|
作者：
Zhenying LIANG 1
2.School of Science
机构：
来源：
Control Theory and Technology | 2011年 / 9卷 / 02期
基金：
美国国家科学基金会;
关键词：
Uncertain chained form; Nonholonomic system; Stabilization; Visual feedback;
D O I：
暂无
中图分类号：
TP242 [机器人];
学科分类号：
1111 ;
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 stability of the closed-loop system is rigorously proven.Simulation results demonstrate the effectiveness of the method proposed in this paper.
引用
收藏
页码：295 / 301
页数：7
相关论文
共 50 条
  • [1] Robust exponential stabilization of nonholonomic wheeled mobile robots with unknown visual parameters
    Liang Z.
    Wang C.
    [J]. Journal of Control Theory and Applications, 2011, 9 (2): : 295 - 301
  • [2] Visual Stabilization of Wheeled Mobile Robots with Unknown Visual Parameters
    Huang, Yao
    Su, Jianbo
    [J]. PROCEEDINGS OF 2019 CHINESE INTELLIGENT AUTOMATION CONFERENCE, 2020, 586 : 79 - 87
  • [3] Adaptive stabilization for nonholonomic mobile robots with uncertain dynamics and unknown visual parameters
    Yang, Fang
    Wang, Chaoli
    [J]. TRANSACTIONS OF THE INSTITUTE OF MEASUREMENT AND CONTROL, 2015, 37 (02) : 282 - 288
  • [4] Robust uncalibrated visual stabilization for nonholonomic mobile robots
    Huang, Yao
    Su, Jianbo
    [J]. ADVANCED ROBOTICS, 2020, 34 (06) : 388 - 399
  • [5] Robust simultaneous formation tracking and stabilization of nonholonomic wheeled mobile robots
    Wang, Yuan-Qing
    Zhang, Gui-Chen
    Shi, Zhu-Bin
    Wang, Qi
    Su, Juan
    [J]. Kongzhi Lilun Yu Yingyong/Control Theory and Applications, 2021, 38 (03): : 407 - 415
  • [6] Robust exponential stabilization of nonholonomic chained systems with unknown parameters
    Zhen-ying Liang
    Chao-li Wang
    Ze-hua Do
    Zhi-rui Liang
    [J]. Acta Mathematicae Applicatae Sinica, English Series, 2015, 31 : 799 - 812
  • [7] Robust Exponential Stabilization of Nonholonomic Chained Systems with Unknown Parameters
    Liang, Zhen-ying
    Wang, Chao-li
    Do, Ze-hua
    Liang, Zhi-rui
    [J]. ACTA MATHEMATICAE APPLICATAE SINICA-ENGLISH SERIES, 2015, 31 (03): : 799 - 812
  • [8] Robust Exponential Stabilization of Nonholonomic Chained Systems with Unknown Parameters
    Zhen-ying LIANG
    Chao-li WANG
    Ze-hua DO
    Zhi-rui LIANG
    [J]. Acta Mathematicae Applicatae Sinica, 2015, 31 (03) : 799 - 812
  • [9] Exponential stabilization of nonholonomic mobile robots
    Pourboghrat, F
    [J]. COMPUTERS & ELECTRICAL ENGINEERING, 2002, 28 (05) : 349 - 359
  • [10] Robust simultaneous tracking and stabilization of wheeled mobile robots not satisfying nonholonomic constraint
    祝晓才
    董国华
    蔡自兴
    胡德文
    [J]. Journal of Central South University, 2007, (04) : 537 - 545
12345