Integral terminal sliding mode augmented finite-time visual servo control of omni-directional mobile manipulators Integral terminal sliding mode augmented finite-time

• Published in: Control theory and technology Vol. 23; no. 2; pp. 193 - 206
• Main Authors: Liu, Yuanji, Zhu, Tianyu, Li, Qingdu, Zhang, Jianwei
• Format: Journal Article
• Language: English
• Published: Berlin/Heidelberg Springer Berlin Heidelberg 01.05.2025
• Subjects: Complexity; Computational Intelligence; Control; Control and Systems Theory; Engineering; Mechatronics; Optimization; Research Article; Robotics; Systems Theory; Mismatched disturbances; Integral terminal sliding mode control; Omni-directional mobile manipulators; Finite-time control; Nonlinear kinematic model
• ISSN: 2095-6983; 2198-0942
• DOI: 10.1007/s11768-025-00243-z

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.