Finite-time saturated stabilization of nonholonomic mobile robots based on visual servoing
基于视觉伺服非完整移动机器人的有限时间饱和镇定

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.