Title :
Image-based Visual Servoing using Sliding mode control
Author :
Kim, Joon-Kil ; Kim, Do-Wan ; Choi, Seung-Joon ; Won, Sang-Chul
Author_Institution :
Dept. of Electr. & Electron. Eng., POSTECH, Pohang
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 uncertainties is increased
Keywords :
Jacobian matrices; cameras; control system synthesis; displacement control; nonlinear control systems; robot vision; robust control; uncertain systems; variable structure systems; visual servoing; camera; errors boundness; image-based visual servoing; nonlinear controller; parameter uncertainty; robot displacement; sliding mode control; uncertainty bound matrix; Calibration; Cameras; Data engineering; Error correction; Robot vision systems; Robust control; Sliding mode control; Stability; Uncertainty; Visual servoing; Image-based visual servoing; robustness; sliding mode control; time-varying boundary layer; uncertainty bound;
Conference_Titel :
SICE-ICASE, 2006. International Joint Conference
Conference_Location :
Busan
Print_ISBN :
89-950038-4-7
Electronic_ISBN :
89-950038-5-5
DOI :
10.1109/SICE.2006.315092
