Visual servoing of dynamic wheeled mobile robots with anti-interference finite-time controllers
ISSN: 0144-5154
Article publication date: 14 August 2018
Issue publication date: 6 December 2018
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.
Keywords
Acknowledgements
This work was supported by the Natural Science Foundation of China (61304004,61503205), the Changzhou Sci & Tech Program (CJ20160013), the Fundamental Research Funds for the Central Universities(2017B15114) and the Changzhou Key Laboratory of Aerial Work Equipment and Intellectual Technology (CLAI201803).
Citation
Chen, H., Chen, L., Zhang, Q. and Tong, F. (2018), "Visual servoing of dynamic wheeled mobile robots with anti-interference finite-time controllers", Assembly Automation, Vol. 38 No. 5, pp. 558-567. https://doi.org/10.1108/AA-11-2017-157
Publisher
:Emerald Publishing Limited
Copyright © 2018, Emerald Publishing Limited