Dynamic Feedback Tracking Control of Nonholonomic Mobile Robots with Unknown Camera Parameters

This paper investigated the tracking control of nonholonomic mobile robots with uncertainties. Nonholonomic kinematic systems with visual feedback are uncertain and more involved in comparison with common kinematic systems. Barbalat theorem and Lyapunov techniques were exploited to craft a dynamic feedback robust controller that enables the mobile robot configuration tracking despite the lack of depth information and the lack of precise visual parameters. The most interesting feature of this paper is that the problem was discussed in the image frame and the inertial frame, which made the problem easy and useful. The convergence of the error system by using the proposed method was rigorously proved. The simulation was given to show the effectiveness of the presented controllers.