针对单目视觉伺服反馈的一类非完整移动机器人的镇定问题,在深度信息未知的情况下,首先给出一种新的基于视觉伺服反馈的模型表达形式,然后利用状态变换和输入变换转化为不确定非完整单链式系统。基于此链式系统,利用时变系统稳定性理论,提出了一种新的光滑时变且具有指数收敛速度的镇定控制器。且该控制器是全局稳定的,并对稳定性给出了严格的证明。最后,仿真结果验证了所提控制器的有效性。 To solve the problem of stabilization for a class of nonholonomic mobile robot with monocular visual servoing feedback, a new visual representation model based on visual servo feedback is presented when the depth information is unknown. Then, the state transformation and input transformation are used to transform the model into Uncertain non-complete single-chain system. Based on this chained system and using the stability theory of time-varying system, a new stabilization and smoothing controller with exponential convergence speed is proposed. The controller is globally stable and gives a rigorous proof of stability. Finally, the simulation results verify the effectiveness of the proposed controller.