Robust Stabilization Of Uncertain, Chained Systems Based On Visual Servoing

For the problem of stabilization and tracking of nonholonomic kinematic systems and nonholonomic dynamical systems,many scholars have extensively studied it.In the control of nonholonomic WMR,it is usually assumed that the robot states are available by using sensor measurements.But the actual system model is actually a lot of complex uncertain factors.The nonholonomic mobile robot for this paper eliminates the limitation of the initial value on its steady state and studies the robust stabilization problem of uncertain models under general conditions.This paper introduces the development of robots,and describes the non-complete robot control based on visual servo,the kinematic model and the dynamic model of the uncertain nonholonomic system,and the uncertain chain model based on the visual servo are introduced.The tracking and control method of uncertain chain system were introduced.And the use of Lyapunov stability theory and control input method,the use of this theory and method,a good solution to the problem of nonholonomic system of stabilization.Based on the kinematic model and the dynamic model,different stabilization controllers are designed for(1,2)and(2,0)wheeled mobile robots.And the effectiveness of the proposed scheme is verified by simulation experiment.The innovation of this paper is that the dynamic stability of the system and the kinematics can be stabilized under the condition that the nonholonomic chain system satisfies the general condition.For the kinematic model and the dynamic model,different stabilization controllers are designed respectively.For any initial state of the system,the exponential convergence of the system state can be satisfied,that is,the initial state of the system does not need special settings,and the control input method can be used to stabilize the nonholonomic chain system.The designed controller not only can make the kinematic system state index stability,but also for the dynamic system,the same system can be exponential stability.The control scheme proposed in this paper effectively solves the problem of robust stabilization of nonholonomic chain systems in general,and expands the content of system control theory.It has a great practical significance to study the theory and practice of nonholonomic uncertain chain systems.