Practical stabilization of uncertain nonholonomic mobile robots based on visual servoing model with uncalibrated camera parameters

Abstract

In this paper, the practical stabilization problem is addressed for a class of uncertain nonholonomic mobile robots with uncalibrated visual parameters. Based on the visual servoing kinematic model, a new switching controller is presented in the presence of parametric uncertainties associated with the camera system. In comparison with existing methods, the new design method is directly to control the original system without any state or input transformation, which is effective to avoid singularity. Under the proposed control law, it is rigorously proved that all the states of closed loop system can be stabilized to a prescribed arbitrarily small neighborhood of the zero equilibrium point. Finally, the simulation results show the effectiveness of the proposed controller design approach.