Robust saturated finite-time stabilization for nonholonomic mobile robots based on visual serving feedback

Abstract

In this paper, the robust saturated stabilization problem is considered for a class of nonholonomic mobile robots based on visual servoing feedback with uncalibrated camera parameters. In comparison with existing methods, the new design method is directly based on the original inputs of the original systems, i.e., the saturated practical inputs instead of the transformed inputs. A piecewise continuous and bounded control law is presented by applying the multi-step switch control strategy and the theory of finite-time stability. The controller can stabilize the nonholonomic robots to the equilibrium point in a finite time. Finally, the simulation results show the effectiveness of the proposed control approach.