标题：The controller research for the uncertain chained systems of a kind of nonholonomic robot with monocular camera
作者：Liang, Zhenying ;Du, Zehua ;Liang, Jiajun ;Wang, Chaoli
作者机构：[Liang, Zhenying ;Du, Zehua ;Liang, Jiajun ] School of Science, ShanDong University of Technology, ZiBo, ShanDong, China;[Wang, Chaoli ] Department of 更多
会议名称：2014 11th World Congress on Intelligent Control and Automation, WCICA 2014
会议日期：June 29, 2014 - July 4, 2014
来源：Proceedings of the World Congress on Intelligent Control and Automation (WCICA)
摘要：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. © 2014 IEEE.