Robust Stabilization Of Uncertain Nonholonomic Mobile Robots Based On Visual Feedback

Existed nonholonomic kinematic systems stabilization and tracking control scheme, kinematics model usually assumes that the parameters are precisely known, but the kinematic model of the actual system but in reality there is a complicated by uncertainty, mainly manifested in the system itself is unknown, noise, interference and other. This paper discusses the stabilization problem of more general nonholonomic mobile robots with uncertain model robust.This paper first describes the background and significance of the robot. The visual servoing, complete systems with non holonomic systems and non holonomic wheeled mobile robot kinematics model, dynamic model and uncertain chain model; discusses the general control method and adaptive control method, backstepping control method, variable structure control method and carries on the elaboration to the extensive application in the field of modern control. Then using visual feedback mechanism combined with the Lyapunov stability theory, with(2,0) and(1,1) type wheeled mobile robot, based on the kinematic model and the chain model of the existing, using instrumental variable method and the new control method for two input parameters are unknown, we design the controllers. Finally study with unknown camera parameters(1,2) stabilization problem of robot index. Visual feedback and input transformation based on uncertain chain model introduced a nonholonomic mobile robot, and use the zoom and state switching technology, proposed stabilization controller. By Matlab simulation results verify the effectiveness of the proposed method.The innovation of this paper is achieving non complete uncertain robot stabilization problem in the more general case, using instrumental variables and control input method to design the controller not only to achieve the exponential convergence of the system state, while overcoming the constraints to the initial state of the system. That is, to achieve the convergence of the system state index, without the initial state of the system to meet the specific conditions. And it is found that the two controllers can not only make the system stable, but also have a high degree of unity of the two types of transformation. The control scheme proposed in this paper not only enriches the content of the system control theory, but also has important practical significance for the wheeled mobile robot.