Author:
Chen Hua,Chen Lei,Zhang Qian,Tong Fei
Abstract
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.
Subject
Industrial and Manufacturing Engineering,Control and Systems Engineering
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