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| Integral terminal sliding mode augmented finite-time visual servo control of omni-directional mobile manipulators |
| YuanjiLiu1,TianyuZhu1,QingduLi1,JianweiZhang2 |
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| (1 Institute of Machine Intelligence, University of Shanghai for Science and Technology, Shanghai, 200093, China;2 Faculty of Mathematics, Informatics and Natural Science Department Informatics, University of Hamburg, 20148, Hamburg, Germany) |
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| 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. |
| 关键词: Omni-directional mobile manipulators · Nonlinear kinematic model · Mismatched disturbances · Integral terminal sliding mode control · Finite-time control |
| DOI：https://doi.org/10.1007/s11768-025-00243-z |
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| 基金项目:This work was supported by the Artificial Intelligence Innovation and Development Special Fund of Shanghai (No. 2019RGZN01041) and the National Natural Science Foundation of China (No. 92048205). |
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| 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, China;2 Faculty of Mathematics, Informatics and Natural Science Department Informatics, University of Hamburg, 20148, Hamburg, Germany) |
| Abstract: |
| 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. |
| Key words: Omni-directional mobile manipulators · Nonlinear kinematic model · Mismatched disturbances · Integral terminal sliding mode control · Finite-time control |
