Integral terminal sliding mode augmented finite-time visual servo control of omni-directional mobile manipulators
Yuanji Liu1
Tianyu Zhu1
Qingdu Li1
Jianwei Zhang2
1.Institute of Machine Intelligence,University of Shanghai for Science and Technology,Shanghai 200093,China2.Faculty of Mathematics,Informatics and Natural Science Department Informatics,University of Hamburg,20148 Hamburg,Germany
摘要：This paper presents a robust finite-time visual servo control strategy for the tracking problem of omni-directional mobile manipulators(OMMs)subject to mismatched disturbances.First,the nonlinear kinematic model of visual servoing for OMMs with mismatched disturbances is explicitly presented to solve the whole-body inverse kinematic problem.Second,a sliding mode observer augmented with an integral terminal sliding mode controller is proposed to handle these uncertainties and ensure that the system converges to a small region around the equilibrium point.The boundary layer technique is employed to mitigate the chattering phenomenon.Furthermore,a strict finite-time Lyapunov stability analysis is conducted.An experimental comparison between the proposed algorithm and a traditional position-based visual servo controller is carried out,and the results demonstrate the superiority of the proposed control algorithm.
机标关键词：terminalvisualcontrolmobilemodeomniaugmenteddirectional
论文发表日期：2025-05-30
在线出版日期：2025-08-15（本平台首次上网日期，不代表文献的发表时间）
页数：14( 193-206 )
英文信息