<p>This paper presents a robust finite-time visual servo control strategy for the tracking problem of omni-directional mobile manipulators (OMMs) subject to mismatched disturbances. First, the nonlinear kinematic model of visual servoing for OMMs with mismatched disturbances is explicitly presented to solve the whole-body inverse kinematic problem. Second, a sliding mode observer augmented with an integral terminal sliding mode controller is proposed to handle these uncertainties and ensure that the system converges to a small region around the equilibrium point. The boundary layer technique is employed to mitigate the chattering phenomenon. Furthermore, a strict finite-time Lyapunov stability analysis is conducted. An experimental comparison between the proposed algorithm and a traditional position-based visual servo controller is carried out, and the results demonstrate the superiority of the proposed control algorithm.</p>