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The Exponential Stabilization of Uncertain Chained Form Systems of Mobile Robots Based on Visual Servoing

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Abstract

A system for a type of nonholonomic wheeled mobile robots equipped with an uncalibrated camera fixed to the ceiling is investigated. Based on the visual feedback and the state-input transformation, models of uncertain chained form systems are presented for the robot-camera systems. Then, new smooth time-varying feedback controllers are proposed to exponentially stabilize the uncertain chained system by using state-scaling and control theories for two cases. The exponential stabilities of the closed-loop uncertain systems are rigorously proved. Simulation results demonstrate the effectiveness of the proposed strategies.

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Authors and Affiliations

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

    Zhenying Liang

  2. Optical-Electrical and Computer Engineering Department, University of Shanghai for Science and Technology, Shanghai, 200093, China

    Chaoli Wang

Authors
  1. Zhenying Liang
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  2. Chaoli Wang
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Corresponding author

Correspondence to Zhenying Liang.

Additional information

This research was supported by the National Natural Science Foundation of China under Grant Nos. 61374040, 61304004 and 61473179, and the Natural Science Foundation of Shandong Province under Grant Nos. ZR2013FM012 and ZR2014FM007.

This paper was recommended for publication by Editor HONG Yiguang.

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Liang, Z., Wang, C. The Exponential Stabilization of Uncertain Chained Form Systems of Mobile Robots Based on Visual Servoing. J Syst Sci Complex 29, 315–335 (2016). https://doi.org/10.1007/s11424-015-4092-2

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  • DOI: https://doi.org/10.1007/s11424-015-4092-2

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