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In this paper, the robust stabilization problem is addressed for a class of dynamic feedback uncertain nonholonomic mobile robots with input saturation. Firstly, a continuous, time varying, saturated controller is presented for the kinematic system of the robots. Secondly, for the dynamic feedback system, a special derivable, saturated kinematic controller with slope restrictions is selected as a virtual control law that can be tracked by the real generalized velocity in a finite time, furthermore, the dynamic input signals are continuous and saturated at any time. The systematic strategy combines the theory of finite-time stability with the virtual-controller-tracked method. Finally, the simulation results show the effectiveness of the proposed controller design approach.

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In this paper, the global finite-time stabilization problem is considered for nonholonomic mobile robots based on visual servoing with uncalibrated visual parameters, control direction and unmatched external disturbances. Firstly, the simple dynamic chained-form systems is obtained by using a state and input transformation of the kinematic robot systems. Secondly, a new discontinuous switching controller is presented in the presence of uncertainties and disturbances, it is rigorously proved that the corresponding closed-loop system can be stabilized to the origin equilibrium point in a finite time. Finally, the simulation results show the effectiveness of the proposed control design approach.

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