Robust stabilization of nonholonomic chained form systems with uncertainties

被引：56
作者：
Liang Z.-Y. [1 ,2 ]
Wang C.-L. [3 ]
机构：
[1] Business School, University of Shanghai for Science and Technology
[2] School of Science, Shandong University of Technology
[3] School of Optical-Electrical and Computer Engineering, University of Shanghai for Science and Technology
来源：
Zidonghua Xuebao/Acta Automatica Sinica | 2011年 / 37卷 / 02期
基金：
中国国家自然科学基金;
关键词：
Kinematic; Mobile robot; Nonholonomic; Uncertain chained system;
D O I：
10.3724/SP.J.1004.2011.00129
中图分类号：
学科分类号：
摘要：
A summary of recent developments concerning robust stabilization problems for the nonholonomic chained form systems with uncertainties is provided. Firstly, various models, main approaches, and results over past ten years for the uncertain chained form systems are presented. Then, several new exciting uncertain chained form models of special interest are proposed for the nonholonomic wheeled mobile robots. They are obtained by using the state and input transformations based on the visual servoing feedback. Finally, the novel robust regulation controllers are addressed for some new uncertain chained models by using two-steps technology, visual feedback, state-scaling and switching strategy. It is expected that this investigation will provide a good introduction about the development of robust stabilization for uncertain chained form systems. Copyright © 2011 Acta Automatica Sinica.
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页码：129 / 142
页数：13
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