Abstract
PurposeThe finite-time visual servoing control problem is considered for dynamic wheeled mobile robots (WMRs) with unknown control direction and external disturbance.Design/methodology/approachBy using finite-time control method and switching design technique.FindingsFirst, 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/valueA class of discontinuous anti-interference control method has been presented for the dynamic nonholonomic systems.
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