Image-based Visual Servoing using Sliding mode control

Abstract

Visual servoing consists of controlling the displacements of a robot using, in closed loop, the data provided by the camera. In this paper, we propose to design the nonlinear controller for image-based visual servoing which is more robust than classical controller on the parameter uncertainties. It can be guaranteed not only stability of the system but the tracking errors boundness which considers the gain. Additionally using the modified uncertainty bound matrix, the range of admissible uncetrainties is increased.

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. ()…”

“…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. In the work of Parsapour et al, an SMC together with an estimator based on an unscented Kalman observer cascading with a Kalman filter was demonstrated to be a stable and robust structure in PBVS, considering system uncertainties existing in the estimation model and observation noise.…”

Augmented Imaged Based Visual Servoing controller for a 6 DOF manipulator using acceleration command

“…Various visual servoing controllers have been developed for the robotic systems such as; proportional controller [1], [2], adaptive visual servoing [3], sliding mode control [4] and model predictive control [5] etc. Normally, visual servoing controllers are classified into three main categories of position-based visual servoing (PBVS), imaged-based visual servoing (IBVS) and hybrid visual servoing.…”

Sliding Mode Control for Visual Servoing of Mobile Robots using a Generic Camera

“…It is particularly important in the case of conventional perspective cameras because the presence of camera calibration uncertainty. This has been tackled through SM control in (Kim et al (2006)) and (Becerra & Sagues (2008)). In this chapter, the last work is extended to calibrated omnidirectional images given by a generic camera.…”