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Robust Practical Stabilization of Nonholonomic Mobile Robots Based on Visual Servoing Feedback with Inputs Saturation
Author(s) -
Chen Hua,
Wang Chaoli,
Liang Zhenying,
Zhang Dongkai,
Zhang Hengjun
Publication year - 2014
Publication title -
asian journal of control
Language(s) - English
Resource type - Journals
SCImago Journal Rank - 0.769
H-Index - 53
eISSN - 1934-6093
pISSN - 1561-8625
DOI - 10.1002/asjc.829
Subject(s) - visual servoing , control theory (sociology) , nonholonomic system , mobile robot , controller (irrigation) , robot , singularity , computer science , stability (learning theory) , control engineering , control (management) , mathematics , engineering , artificial intelligence , mathematical analysis , machine learning , agronomy , biology
In this paper, the saturated practical stabilization problem is addressed for a class of nonholonomic mobile robots based on visual servoing feedback with uncertain camera parameters. The new switching control design method to be proposed is directly based on the original system, which can avoid the problem of singularity arising from state or input transformation. A saturated discontinuous controller is presented by applying the multi‐step switching control strategy and the theory of finite‐time stability. The closed‐loop system can be stabilized to a prescribed arbitrarily small neighborhood of the zero equilibrium point in a finite time. Finally, the simulation results show the effectiveness of the proposed controller design approach.