中文摘要：

基于未校准视觉反馈的非完整运动学系统具有参数不确定性，较一般的运动学系统更加复杂．根据视觉反馈和非完整移动机器人的链式标准形式，研究了具有未标定摄像机视觉参数的移动机器人的轨迹跟踪控制问题．利用固定在天花板上的摄像机系统提出运动学跟踪误差模型，并对该误差系统模型提出了一种动态反馈跟踪控制器；对具有不确定机械参数的动力学模型，提出一种自适应力矩控制器，该控制器保证了实际机器人状态渐近跟踪给定的参考轨迹，并通过Lyapunov方法严格证明了整个闭环系统的稳定性．仿真结果证实了所提出的控制器的有效性．

英文摘要：

Nonholonomic kinematic systems with uncalibrated visual feedback are uncertain and more involved in comparison with common kinematic systems. The trajectory tracking control problem of nonholonomic mobile robots with uncertain camera parameters is addressed based on visual servoing feedback and the chained standard form. Firstly, based on the ceiling-mounted fixed pin-hole camera perspective projection model, a visual servoing kinematic tracking error model is introduced. Based on this model, a kinemat- ic dynamic feedback tracking controller is presented. Then, an adaptive torque controller is designed in the presence of parametric un- certainties associated with the mechanical dynamics system. The proposed controller ensures the state of the real robot asymptotically track the given reference trajectory, the stabilization of the entire closed-loop system is rigorously proved by the Lyapunov method. Simulation results are provided to illustrate the performance of the control law.