Sliding mode variable structure control for visual servoing system

Abstract

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.

Sliding mode control for robust and smooth reference tracking in robot visual servoing

“…In fact, the transpose of the Jacobian matrix has already been used in robotics for continuous control laws due to its simplicity() among others. However, to the best of the authors' knowledge, it has not been yet used for SMC, eg, all the SMCs proposed in literature for robot VS() use the Jacobian pseudoinverse.…”

“…It is interesting to note that the sliding surface given by Equation has already been used in VS for an SM velocity controller in previous works. ()…”

“…In the works of Oliveira et al,() an SMC strategy based on a switching scheme and monitoring function was developed to deal with the uncertainties in the camera calibration parameters. Li and Xie proposed a visual controller and a robot joint controller based on the SMC theory for a camera‐in‐hand planar 2‐link robot visual servo system to achieve strong robustness against parameter variations and external disturbances. In the work of Kim et al, the SMC was applied to IBVS to increase robustness on parametric uncertainties.…”

Target Tracking for Visual Servoing Systems Based on an Adaptive Kalman Filter

“…Simulation results showed that the control scheme can achieve good tracking performance and has strong robustness against parameter variations and external disturbances. Hence, we will focus here on a variable structure control with sliding mode, which proved its potential in visual servoing system [29].…”

Design of robotic visual servo control based on neural network and genetic algorithm

“…Since the early work of Shirai and Inoue [1] (who described how a visual feedback loop can be used to correct the position of a robot to increase task accuracy), considerable efforts have been devoted to the visual control of robot manipulators [2] . Traditional robot visual servo control system is based on calibration technique that needs to know the intrinsic parameters of the camera, the hand-eye transformation, and the parameters of robot kinematics, so that the control precision of the servo system depends largely on the precision of calibration [3] .…”