Title :
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
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;
Conference_Titel :
Intelligent Control and Automation (WCICA), 2014 11th World Congress on
DOI :
10.1109/WCICA.2014.7053525
