The controller research for the uncertain chained systems of a kind of nonholonomic robot with monocular camera

Author

Zhenying Liang ; Zehua Du ; Jiajun Liang ; Chaoli Wang

Author_Institution

Sch. of Sci., ShanDong Univ. of Technol., ZiBo, China

fYear

2014

Firstpage

4797

Lastpage

4802

Abstract

The controller research for a kind of nonholonomic mobile robot with uncertain camera parameters is investigated in this paper. We firstly present an uncertain model of nonholonomic kinematic system of type (1,2) mobile robot based on the visual feedback, the state and input transformations, which is a kind of chained form with uncertainty. Then, a kind of linear feedback controller is proposed which can not stabilize the nonholonomic uncertain chained systems exponentially. This conclusion is proved rigorously.

Keywords

cameras; feedback; linear systems; mobile robots; robot kinematics; robot vision; stability; uncertain systems; controller research; input transformations; linear feedback controller; monocular camera; nonholonomic kinematic system; nonholonomic mobile robot; stabilization; state transformations; uncertain camera parameters; uncertain chained systems; uncertain model; visual feedback; Cameras; Mobile robots; Robot kinematics; Robot vision systems; Visualization; Wheels; Nonholonomic system; Stabilization; Uncertain chained system; Wheeled mobile robot;

fLanguage

English

Publisher

ieee

Conference_Titel

Intelligent Control and Automation (WCICA), 2014 11th World Congress on

Type

conf

DOI

10.1109/WCICA.2014.7053525

Filename

7053525