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

fYear

2006

Firstpage

4996

Lastpage

5001

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;

fLanguage

English

Publisher

ieee

Conference_Titel

SICE-ICASE, 2006. International Joint Conference

Conference_Location

Busan

Print_ISBN

89-950038-4-7

Electronic_ISBN

89-950038-5-5

Type

conf

DOI

10.1109/SICE.2006.315092

Filename

4108569