Visual servoing of dynamic wheeled mobile robots with anti-interference finite-time controllers

摘要

Purpose - The finite-time visual servoing control problem is considered for dynamic wheeled mobile robots (WMRs) with unknown control direction and external disturbance. Design/methodology/approach - By using finite-time control method and switching design technique. Findings - First, the visual servoing kinematic WMR model is developed, which can be converted to the dynamic chained-form systems by using a state and input feedback transformation. Then, for two decoupled subsystems of the chained-form systems, according to the finite-time stability control theory, a discontinuous three-step switching control strategy is proposed in the presence of uncertain control coefficients and external disturbance. Originality/value -A class of discontinuous anti-interference control method has been presented for the dynamic nonholonomic systems.