Position based sliding mode control for visual servoing system

• Published in: 2013 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
• Language: English; 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
• ISBN: 1467358096; 9781467358095
• DOI: 10.1109/ICRoM.2013.6510129

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.