Robust Stabilization of Nonholonomic Chained Form Systems with Uncertainties

Abstract 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. Key words Nonholonomic, kinematic, mobile robot, uncertain chained system DOI 10.3724/SP.J.1004.2011.00129 The term “nonholonomic system ” has been widely ac-cepted as “Lagrange system with linear constraints be-ing non-integrable”. There is an extensive list of re-search papers devoted to the study of stability of nonholo-nomic systems[1−17]. Mobile robots with velocities con-straints are well-known nonholonomic nonlinear mechan