Robust Exponential Stabilization of Nonholonomic Chained Systems with Unknown Parameters

The exponential stabilization problem of a robot-camera system with unknown camera parameters is investigated. Based on the visual feedback and the state-input transformation, an uncertain chained form model is presented for a type of nonholonomic mobile robots. Then, a new time-varying feedback controller is proposed to stabilize the uncertain system exponentially with the help of the stabilization theorems, state-scaling and switching techniques. The exponential stability of the closed-loop system is rigorously proved. Simulation results are given to demonstrate the effectiveness of the proposed strategies.