摘要：Abstract: In this paper, the output tracking problem is considered for an uncertain dynamic systems of nonholonomic mobile robots with uncalibrated visual parameters, unknown control directions, unmodeled dynamics and external disturbances. A model-free, fractional-order generalized principle self-support (FOGPSS) visual feedback control algorithm is proposed such that the tracking error can be driven into a pre-specified neighborhood of zero just by using incomplete informations of the moving objects to be tracked. The convergence of the corresponding closed-loop systems of tracking error is strictly proved based on the stability theory of fractional-order systems. Finally, some numerical simulations show the efficiency of the presented design strategy.
关键词：KeywordsFractional-ordernonholonomic mobile robotsvisual feedbackmodel-freeself-support
