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Yuanji Liu1,Tianyu Zhu1,Qingdu Li1,Jianwei Zhang2.[en_title][J].Control Theory and Technology,2025,23(2):193~206.[Copy]
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Integral terminal sliding mode augmented finite-time visual servo control of omni-directional mobile manipulators
YuanjiLiu1,TianyuZhu1,QingduLi1,JianweiZhang2
0
(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)
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
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).
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