Robust Regulation of Mobile Robots with Dynamic based on Uncalibrated Visual Servoing

This paper considers the problem of the regulation of nonholonomic wheeled mobile robots with dynamic based on uncalibrated visual servoing. First, the desired virtual velocity is designed to stabilize the kinematic model exponentially. And then the method of computed-torque is introduced for the dynamic model associated with uncertain disturbances to design the torque controller which could let the actual velocity track the desired one in finite time. The stability of the proposed method is proved rigorously. Simulation results confirm the effectiveness of the proposed methods.