Global Finite-Time Stabilization for Nonholonomic Mobile Robots Based on Visual Servoing. (12th November 2014)

• Record Type: Journal Article
• Authors: Chen, Hua; Ding, Shihong; Chen, Xi; Wang, Lihua; Zhu, Changping; Chen, Wen
• Is Part Of: International journal of advanced robotic systems. Volume 11:Number 11(2014)
• Publication Date: 2014-11-12
• Subjects: Nonholonomic Mobile Robots -- Chained-form System -- Visual Servoing -- Finite-time Stabilization -- Switching Control; Robotics -- Periodicals; Robotics; Periodicals; 629.892
• DOI: 10.5772/59307
• Languages: English
• ISSNs: 1729-8806

Abstract

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.