Finite‐Time Tracking Control for Nonholonomic Mobile Robots Based on Visual Servoing

This paper investigates the finite-time tracking problem of nonholonomic mobile robots in kinematic models via visual servoing in the presence of parametric uncertainties associated with the camera system. First of all, a camera-objective visual kinematic model is introduced by utilizing the pinhole camera model. Second, a unified tracking error system between the camera-objective visual servoing model and the desired reference trajectory is introduced. Third, based on the unified error dynamics and by using the finite-time control method, continuous finite-time controller laws are designed to solve the finite-time tracking problem for the mobile robot in the presence of parametric uncertainties associated with the camera system. Rigorous proof shows that the desired reference trajectory can be tracked in finite time. Finally, an example is employed to verify the efficiency of the proposed methods.