Fei Li and Hua-Long Xie. Sliding Mode Variable Structure Control for Visual Servoing System. International Journal of Automation and Computing, vol. 7, no. 3, pp. 317-323, 2010. DOI: 10.1007/s11633-010-0509-5
Citation: Fei Li and Hua-Long Xie. Sliding Mode Variable Structure Control for Visual Servoing System. International Journal of Automation and Computing, vol. 7, no. 3, pp. 317-323, 2010. DOI: 10.1007/s11633-010-0509-5

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.
  • loading

Catalog

    /

    DownLoad:  Full-Size Img  PowerPoint
    Return
    Return