Abstract:A new image-based robot visual servo control strategy based on a third-order sliding-mode observer (TOSM) model predictive control is proposed in this study. This new control strategy solves the problem of robot visual servo control with system constraints and time-varying disturbances when the camera and model of the robot manipulator are uncertain and the joint velocity is unknown. In the proposed method, the joint velocity and system centralized uncertainties are estimated simultaneously based on a third-or… Show more
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