Robust Stabilization for Uncertain Nonholonomic Dynamic Mobile Robots with Monocular Camera
نویسندگان
چکیده
ABSTRACT In this paper, a new kind of smooth time-varying controller was proposed for the robust stabilization problem of nonholonomic kinematics mobile robots with uncertain camera parameters based on visual feedback. And a torque controller was also designed by using the method of computed-torque for the dynamic model associated with uncertain disturbances. This torque controller can let the velocity error converge to zero and let the actual velocity track the desired one in finite time. Simulation results demonstrate the effectiveness of the proposed methods.
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