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State-feedback stabilisation for stochastic non-holonomic mobile robots with uncertain visual servoing parameters

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  • Dongkai Zhang
  • Chaoli Wang
  • Guoliang Wei
  • Hengjun Zhang
  • Hua Chen

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.

Suggested Citation

  • Dongkai Zhang & Chaoli Wang & Guoliang Wei & Hengjun Zhang & Hua Chen, 2014. "State-feedback stabilisation for stochastic non-holonomic mobile robots with uncertain visual servoing parameters," International Journal of Systems Science, Taylor & Francis Journals, vol. 45(7), pages 1451-1460, July.
    • Handle: RePEc:taf:tsysxx:v:45:y:2014:i:7:p:1451-1460
    DOI: 10.1080/00207721.2014.891675
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    References listed on IDEAS

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    1. Ke-Cai Cao, 2011. "Global 𝒦-exponential trackers for nonholonomic chained-form systems based on LMI," International Journal of Systems Science, Taylor & Francis Journals, vol. 42(12), pages 1981-1992.
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