Robust stabilization of nonholonomic chained form systems with uncertainties. (English) Zbl 1240.70015

Summary: 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.


70F25 Nonholonomic systems related to the dynamics of a system of particles
70B15 Kinematics of mechanisms and robots
93D21 Adaptive or robust stabilization