Integral terminal sliding mode augmented finite-time visual servo control of omni-directional mobile manipulators
Yuanji Liu
Tianyu Zhu
Qingdu Li
Jianwei Zhang
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.
Keywords：Omni-directional mobile manipulatorsNonlinear kinematic modelMismatched disturbancesIntegral terminal sliding mode controlFinite-time control
Publication Date：2025-05-30
Online Publishing Date：2025-08-15(First online date of this platform, not the publication date of the document)
Pages：14( 193-206 )