A 3D sliding mode control approach for position based visual servoing system

The performance of visual servoing systems can be enhanced through nonlinear controllers. In this paper, a sliding mode control is employed for such a purpose. The controller design is based on the outputs of a pose estimator which is implemented on the scheme of the Position-Based Visual Servoing (PBVS) approach. Accordingly, a robust estimator based on unscented Kalman observer cascading with Kalman lter is used to estimate the position, velocity and acceleration of the target. Therefore, a PD-type sliding surface is selected as a suitable manifold. The combination of the estimator and nonlinear controller provides a robust and stable structure in PBVS approach. The stability analysis is veried through Lyapunov theory. The performance of the proposed algorithm is veried experimentally through an industrial visual servoing system.