This paper deals with the visual regulation problem of wheeled mobile robots (WMRs) in the presence of uncalibrated camera-to-robot parameters and unknown image depth. A two-stage controller is designed by using a switching approach. Specifically, in the first stage, an invariant-manifold-based adaptive controller is presented to bring the lateral error and angular error within an arbitrarily small neighborhood of zero; in the second stage, the longitudinal error is regulated by employing a proportional controller. Utilizing the Lyapunov stability analysis, the exponentially bounded stability of the closed-loop system is proved. Both simulation and experimental results are presented to validate the effectiveness of the proposed approach.

本文研究了存在未校准的摄像机到机器人参数和未知图像深度的轮式移动机器人（WMR）的视觉调节问题。通过使用切换方法来设计两级控制器。具体而言，在第一阶段，提出了一种基于不变流形的自适应控制器，以将横向误差和角度误差带入任意小的零邻域内。在第二阶段，通过使用比例控制器来调节纵向误差。利用李雅普诺夫稳定性分析，证明了闭环系统的指数有界稳定性。仿真和实验结果都被提出来验证所提方法的有效性。