Position based sliding mode control for visual servoing system

This paper presents a nonlinear controller for visual servoing system. Pose estimation is one of the fundamental issues in position-based visual servoing (PBVS) approach. A few researches have focused on controller synthesis under modeling uncertainty and measurement noise of estimated position. In...

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Bibliographic Details
Published in2013 First RSI/ISM International Conference on Robotics and Mechatronics (ICRoM) pp. 337 - 342
Main Authors Parsapour, M., RayatDoost, S., Taghirad, H. D.
Format Conference Proceeding
LanguageEnglish
Japanese
Published IEEE 01.02.2013
Subjects
Estimation
Lyapunov theory
Measurement uncertainty
Nonlinear controller
Positron emission tomography
Robustness
Service robots
Sliding surface
Visual servoing system
Visualization
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ISBN1467358096
9781467358095
DOI10.1109/ICRoM.2013.6510129

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Summary:This paper presents a nonlinear controller for visual servoing system. Pose estimation is one of the fundamental issues in position-based visual servoing (PBVS) approach. A few researches have focused on controller synthesis under modeling uncertainty and measurement noise of estimated position. In this research, PD-type sliding surface is designed for tracking target. The control signal is obtained from the sliding surface and the stability of the algorithm is verified by Lyapunov theory. Moreover, a recent designed robust estimator based on unscented Kalman observer (UKO) cascading with Kalman filter (KF) is used to estimate the pose, velocity and acceleration of the target. The combination of the implemented estimator and the proposed controller provide a stable and robust structure in PBVS. The reported experimental results, verify the effectiveness of the proposed method in an industrial visual servoing system.
ISBN:1467358096
9781467358095
DOI:10.1109/ICRoM.2013.6510129