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

Hua Chen (Mathematics and Physics Department, Hohai University, Changzhou Campus, Changzhou, China)
Lei Chen (College of Internet of Things of Engineering, Hohai University, Changzhou, China)
Qian Zhang (College of Internet of Things of Engineering, Hohai University, Changzhou, China)
Fei Tong (College of Internet of Things of Engineering, Hohai University, Changzhou, China)

Assembly Automation

ISSN: 0144-5154

Article publication date: 14 August 2018

Issue publication date: 6 December 2018

210

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

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