Sliding Mode Variable Structure Control for Visual Servoing System

被引：6
|
作者：
Fei Li 1 Hua-Long Xie 2 1 School of Information Science and Engineering
机构：
来源：
International Journal of Automation & Computing | 2010年 / 7卷 / 03期
关键词：
Visual servoing; sliding mode control; variable structure control; reaching law; time delay;
D O I：
暂无
中图分类号：
TP273 [自动控制、自动控制系统];
学科分类号：
080201 ; 0835 ;
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.
引用
收藏
页码：317 / 323
页数：7
相关论文
共 50 条
  • [41] Uncalibrated sliding mode visual servoing of uncertain robot manipulators
    Parra-Vega, V
    Fierro-Rojas, JD
    Espinosa-Romero, T
    2002 IEEE/RSJ INTERNATIONAL CONFERENCE ON INTELLIGENT ROBOTS AND SYSTEMS, VOLS 1-3, PROCEEDINGS, 2002, : 336 - 341
  • [42] Sensorless Control of PMSM Based on Sliding Mode Variable Structure Control and Adaptive Sliding Mode Observer
    Wu, Zonglin
    Li, Ruogiong
    2021 24TH INTERNATIONAL CONFERENCE ON ELECTRICAL MACHINES AND SYSTEMS (ICEMS 2021), 2021, : 2015 - 2019
  • [43] Robot Visual Sliding Mode Servoing using SIFT Features
    Xin Jing
    Ran Bao-jing
    Ma Xiao-min
    PROCEEDINGS OF THE 35TH CHINESE CONTROL CONFERENCE 2016, 2016, : 4723 - 4729
  • [44] Research on ABS and TPMS Merging System Based on Sliding Mode Variable Structure Control System
    Han Jiapeng
    Tang Xiaofeng
    2009 INTERNATIONAL FORUM ON COMPUTER SCIENCE-TECHNOLOGY AND APPLICATIONS, VOL 1, PROCEEDINGS, 2009, : 340 - 342
  • [45] Sliding Mode Control of Uncertain Multivariable Nonlinear Systems Applied to Uncalibrated Robotics Visual Servoing
    Oliveira, Tiago Roux
    Peixoto, Alessandro Jacoud
    Leite, Antonio Candea
    Hsu, Liu
    2009 AMERICAN CONTROL CONFERENCE, VOLS 1-9, 2009, : 71 - 76
  • [46] Adaptive Neural Network-based Visual Servoing with Integral Sliding Mode Control for Manipulator
    Zeng, Haibin
    Lu, Zhihui
    Lv, Yueyong
    Qi, Jiaming
    2022 41ST CHINESE CONTROL CONFERENCE (CCC), 2022, : 3567 - 3572
  • [47] Research on Chattering Problem of Sliding Mode Variable Structure Control in AC Servo System
    Meng, A. Hua
    Zheng, B. XiaoHong
    Zhang, C. JianHua
    2016 IEEE CHINESE GUIDANCE, NAVIGATION AND CONTROL CONFERENCE (CGNCC), 2016, : 2468 - 2472
  • [48] Application of discrete sliding mode variable structure control in magnetic levitation ball system
    Qian, Yu-Heng
    Yang, Ya-Fei
    Zhang, Xiang
    Zhongguo Guanxing Jishu Xuebao/Journal of Chinese Inertial Technology, 2012, 20 (03): : 368 - 372
  • [49] Analysis of PMLSM direct thrust control system based on sliding mode variable structure
    Yang, Junyou
    He, Guofeng
    Cui, Jiefan
    IPEMC 2006: CES/IEEE 5TH INTERNATIONAL POWER ELECTRONICS AND MOTION CONTROL CONFERENCE, VOLS 1-3, CONFERENCE PROCEEDINGS, 2006, : 662 - +
  • [50] Sliding mode variable structure control system of PJR-X shotcrete robot
    Wang, Chuan-Jiang
    Su, Xue-Cheng
    Fan, Bing-Hui
    Sun, Xiu-Juan
    Meitan Xuebao/Journal of the China Coal Society, 2007, 32 (05): : 548 - 551
12345