%0 Journal Article
%T Finite-time saturated stabilization of nonholonomic mobile robots based on visual servoing<br>基于视觉伺服非完整移动机器人的有限时间饱和镇定
%A CHEN Hu
%A WANG Chao-li
%A YANG Fang
%A XU Wei-dong
%A <br>陈华
%A 王朝立
%A 杨芳
%A 许维东
%J 控制理论与应用
%D 2012
%I 
%X The saturated finite-time stabilization problem is considered in this paper for a class of nonholonomic mobile robots based on visual servoing with uncertain camera parameters. By applying the multi-step control strategy and the theory of finite-time stability, a piecewise continuous and saturated control law is presented, which can stabilize the closedloop system to the origin equilibrium point in a finite time. Finally, the simulation results show the effectiveness of the proposed control design approach.
%K visual servoing
%K nonholonomic mobile robots
%K finite-time stabilization
%K inputs saturation<br>视觉伺服
%K 非完整移动机器人
%K 有限时间镇定
%K 输入饱和
%U http://www.alljournals.cn/get_abstract_url.aspx?pcid=5B3AB970F71A803DEACDC0559115BFCF0A068CD97DD29835&cid=8240383F08CE46C8B05036380D75B607&jid=970898A57DFC021F93AB51667BAED7F7&aid=A56F1C7481D47408AD66963081206C7A&yid=99E9153A83D4CB11&vid=771469D9D58C34FF&iid=B31275AF3241DB2D&sid=92DE343A8428AA81&eid=CE504F5B1E192581&journal_id=1000-8152&journal_name=控制理论与应用&referenced_num=0&reference_num=0