Sliding mode variable structure control for visual servoing system

A visual servoing tracking controller is proposed based on the sliding mode control theory in order to achieve strong robustness against parameter variations and external disturbances. A sliding plane with time delay compensation is presented by the pre-estimate of states. To reduce the chattering of the sliding mode controller, a modified exponential reaching law and hyperbolic tangent function are applied to the design of visual controller and robot joint controller. Simulation results show that the visual servoing control scheme is robust and has good tracking performance.

[1]  Peter I. Corke,et al.  A tutorial on visual servo control , 1996, IEEE Trans. Robotics Autom..

[2]  Nikolaos Papanikolopoulos,et al.  Six degree-of-freedom hand/eye visual tracking with uncertain parameters , 1995, IEEE Trans. Robotics Autom..

[3]  Erkan Zergeroglu,et al.  Robust Visual-Servo Control of Robot Manipulators in the Presence of Uncertainty , 2003, J. Field Robotics.

[4]  Franck Plestan,et al.  Sensor based robot control in the presence of uncertainties: bounding the task function tracking errors , 2002, Proceedings 2002 IEEE International Conference on Robotics and Automation (Cat. No.02CH37292).

[5]  Chris Melhuish,et al.  Adaptive sliding mode control for MIMO nonlinear systems based on fuzzy logic scheme , 2004, Int. J. Autom. Comput..

[6]  Erkan Zergeroglu,et al.  Vision-based nonlinear tracking controllers with uncertain robot-camera parameters , 2001 .

[7]  Robert J. Wood,et al.  Towards a 3g crawling robot through the integration of microrobot technologies , 2006, Proceedings 2006 IEEE International Conference on Robotics and Automation, 2006. ICRA 2006..

[8]  Victor Sreeram,et al.  Sliding mode control design via reduced order model approach , 2007, Int. J. Autom. Comput..

[9]  Ruben Garrido,et al.  Predicting a moving object position for visual servoing: theory and experiments , 2001 .

[10]  Franck Plestan,et al.  Robust visual servoing: bounding the task function tracking errors , 2005, IEEE Transactions on Control Systems Technology.

[11]  Jong Hyeon Park,et al.  Robust visual servoing for motion control of the ball on a plate , 2003 .

[12]  Jing Yuan-wei,et al.  Discrete-Time Variable Structure Control Based on Sliding Mode for Acrobot System , 2006 .