Simultaneous tracking and practical stabilization of nonholonomic mobile robots with a new assumption

This paper discusses the nonholonomic mobile robots with a camera fixed on the ceiling. The control structure of the system is described based on uncalibrated visual servoing feedback. Simultaneous tracking and practical stabilization of nonholonomic mobile robots without strict assumptions are realized by using backstepping and adaptive technique. The practical stability of the closed loop systems and the boundedness of the estimated parameters are proved by Barbalat lemmas. The simulations show the effectiveness of the controller proposed.