State-feedback stabilisation for stochastic non-holonomic mobile robots with uncertain visual servoing parameters |
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| Authors: | Dongkai Zhang Guoliang Wei Hengjun Zhang Hua Chen |
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| Affiliation: | 1. Department of Control Science and Engineering, University of Shanghai for Science and Technology, Shanghai, China;2. Department of Mathematics, Shijiazhuang University, Hebei, China;3. Mathematics and Physics Department, Hohai University, Changzhou, China |
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| Abstract: | The stabilising problem of stochastic non-holonomic mobile robots with uncertain parameters based on visual servoing is addressed in this paper. The model of non-holonomic mobile robots based on visual servoing is extended to the stochastic case, where their forward velocity and angular velocity are both subject to some stochastic disturbances. Based on backstepping technique, state-feedback stabilising controllers are designed for stochastic non-holonomic mobile robots. A switching control strategy for the original system is presented. The proposed controllers guarantee that the closed-loop system is asymptotically stabilised at the zero equilibrium point in probability. |
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| Keywords: | stochastic non-holonomic mobile robots stabilisation backstepping visual servoing switching control strategy |
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