A Visual Feedback Model-Free Design for Robust Tracking of Nonholonomic Mobile Robots

This paper considers the problem of designing a visual feedback control law for robust tracking of nonholonomic mobile robots. The control approach developed in this work with uncalibrated visual parameters, unknown control directions, and external disturbances. Using incomplete information of the moving objects to be tracked to propose a model-free, self-support control algorithm to ensure the tracking error can be driven into a prespecified neighborhood of zero. Global stability of the corresponding closed-loop system of tracking error is proved by the Lyapunov stability theory. Finally, the simulation results demonstrate the effectiveness of the proposed controller design method.