Global Practical Stabilization for Non-holonomic Mobile Robots with Uncalibrated Visual Parameters by Using a Switching Controller

In this paper, the global practical stabilization problem is addressed for a class of non-holonomic mobile robots with uncalibrated visual parameters. Based on the visual servoing kinematic model, a new switch controller is presented in the presence of parametric uncertainties associated with the camera system. In comparison with existing methods, the new design method is directly to control the original system without any state or input transformation, which is effective in avoiding singularity. By Lyapunov method, it is rigorously proved that under the proposed switch control law, the states of closed loop system can be stabilized to an arbitrarily small neighbourhood of the zero equilibrium point. Finally, the simulation results show the effectiveness of the proposed control design approach.