The visual servoing stabilization of nonholonomic mobile robots with uncertain camera parameters is investigated
based on the visual feedback and the common chained form of type(1, 2) mobile robot. A new uncertain model of
nonholonomic kinematic systems in the image plane for this kind of robots is obtained, which is a chained form with
uncalibrated visual parameters. A novel time varying feedback controller is proposed for exponentially stabilizing the
nonholonomic chained system with unknown parameters with help of state-scaling and switching technique. The exponential
stability of the closed loop system is rigorously proved. Simulation results show the effectiveness of the proposed methods.