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Sliding mode variable structure control for visual servoing system

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Abstract

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.

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Authors and Affiliations

  1. School of Information Science and Engineering, Shenyang University of Technology, Shenyang, 110870, PRC

    Fei Li

  2. School of Mechanical Engineering and Automation, Northeastern University, Shenyang, 110004, PRC

    Hua-Long Xie

Authors
  1. Fei Li
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  2. Hua-Long Xie
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Correspondence to Fei Li.

Additional information

This work was supported by China Postdoctoral Science Foundation (No. 20080441093) and Key Laboratory Foundation of Liaoning Province (No. 2008S088).

Fei Li received the bachelor degree in measurement and control technology and instrumentation, master degree in control theory and control engineering from Shenyang Institute of Chemical Technology, PRC in 2001 and 2004, respectively, and the Ph.D. degree in pattern recognition and intelligent system from Northeastern University, PRC in 2007. Currently, she is a lecturer in the School of Information Science and Engineering at Shenyang University of Technology, PRC.

Her research interests include robotics, control theory, and computer vision.

Hua-Long Xie received the bachelor degree in mechanical electronic engineering, master degree in mechanical design and theory, and Ph.D. degree in control theory and control engineering from Northeastern University, PRC in 2000, 2003, and 2006, respectively. Since 2006, he has been a postdoctoral research fellow and lecturer at Northeastern University.

His research interests include robotics, intelligent control, intelligent bionic leg, and biomechanics.

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Li, F., Xie, HL. Sliding mode variable structure control for visual servoing system. Int. J. Autom. Comput. 7, 317–323 (2010). https://doi.org/10.1007/s11633-010-0509-5

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  • DOI: https://doi.org/10.1007/s11633-010-0509-5

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