Sliding Mode Variable Structure Control for Visual Servoing System

被引：20
作者：
Li F. [1 ]
Xie H.-L. [2 ]
机构：
[1] School of Information Science and Engineering, Shenyang University of Technology
[2] School of Mechanical Engineering and Automation, Northeastern University
来源：
International Journal of Automation and Computing | 2010年 / 7卷 / 03期
基金：
中国博士后科学基金;
关键词：
reaching law; sliding mode control; time delay; variable structure control; Visual servoing;
D O I：
10.1007/s11633-010-0509-5
中图分类号：
学科分类号：
摘要：
A visual servoing tracking controller is proposed based on the sliding mode control theory in order to achieve strong robustness against parameter variations and external disturbances. A sliding plane with time delay compensation is presented by the pre-estimate of states. To reduce the chattering of the sliding mode controller, a modified exponential reaching law and hyperbolic tangent function are applied to the design of visual controller and robot joint controller. Simulation results show that the visual servoing control scheme is robust and has good tracking performance. © 2010 Institute of Automation, Chinese Academy of Sciences and Springer-Verlag Berlin Heidelberg.
引用
收藏
页码：317 / 323
页数：6
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