Controle por modos deslizantes de sistemas multivariáveis não-lineares incertos aplicado à servovisão robótica não-calibrada

Abstract

Sliding Mode Control of Uncertain Multivariable Nonlinear Systems Applied to Uncalibrated Robotics Visual Servoing An output-feedback sliding mode controller using monitoring functions was recently introduced for linear uncertain single-input-single-output (SISO) systems with unknown control direction. Here, a generalization is developed for multivariable systems with strong nonlinearities. The monitoring scheme is extended to handle the uncertainty of the plant high frequency gain matrix. Our strategy provides global stability properties and exact output tracking. Experimental results with a robotics visual servoing system, using a fixed but uncalibrated camera, illustrate the robustness and practical viability of the proposed scheme.