基于一类非完整移动机器人的运动学模型和链式变换, 在质心与几何中心重合的情况下, 研究了不确定链式系统的指数镇定问题. 文中首先展示了未标定摄像机参数的摄像机-机器人系统的不确定链式模型. 然后引入一种控制方法, 并设计两种时变控制器使不确定链式系统状态指数收敛. 这种控制输入法不仅克服了系统初始状态不为零的限制, 而且保证该系统下移动机器人的各状态由任意的初始状态指数收敛到原点. 利用Matlab 仿真验证了所用方法在非完整移动机器人指数收敛判断中的可行性和有效性. 最后简要叙述了不能指数镇定不确定链式系统的控制器模型形式.

The exponential stabilization of the uncertain chained systems was discussed based on a kind of nonholonomic mobile robot kinematics model and chained-transformations when the center of mass and geometric center coincide. Firstly, the uncertain nonholonomic model of camera-robot system with uncalibrated camera parameters was presented. Then, one method was introduced and two kinds of time-varying controllers were designed for exponential stabilization of the nonholonomic system. This input control method not only overcomes the limit of the initial status of the system but also guarantees the system states exponentially converge to the origin from any state. Matlab simulations verify the effectiveness and validity of exponential convergence judgment on nonholonomic mobile robot. Finally, the controller model which does not exponential stabilize the uncertain chain system was described briefly.