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Robust exponential stabilization of uncertain nonholonomic chained systems based on visual feedback

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Abstract

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 transformations. 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.

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Authors and Affiliations

  1. Department of Control Science and Engineering, University of Shanghai for Science and Technology, Shanghai, 200093, China

    Zhenying Liang & Chaoli Wang

  2. School of Science, Shandong University of Technology, Zibo, 255049, China

    Zhenying Liang

Authors
  1. Zhenying Liang
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  2. Chaoli Wang
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Corresponding author

Correspondence to Chaoli Wang.

Additional information

This research is 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 and Doctoral Fund of Shandong University of Technology under Grant No. 411016.

This paper was recommended for publication by Editor Yiguang HONG.

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Liang, Z., Wang, C. Robust exponential stabilization of uncertain nonholonomic chained systems based on visual feedback. J Syst Sci Complex 25, 441–450 (2012). https://doi.org/10.1007/s11424-012-0175-5

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  • DOI: https://doi.org/10.1007/s11424-012-0175-5

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