{"title":"Pre-Compensated Proportional Derivative Sliding Mode Controller Design for Image Based Visual Servoing","authors":"Hamid NouriSola, Askar Azizi, Sajjad Shoja Majidabad","doi":"10.1109/KBEI.2019.8735049","DOIUrl":null,"url":null,"abstract":"This study deals with image based visual servoing (IBVS) of robot manipulators in the presence of uncertainties. The proposed control technique is composed of a pre-compensated term, proportional-derivative (PD) controller and a sliding mode controller (SMC) to reach fast, accurate and robust motions. Practical stability of the closed-loop system is guaranteed by using Lyapunov method. Simulation results are used to demonstrate the effectiveness of the proposed controller in the normal and uncertain conditions.","PeriodicalId":339990,"journal":{"name":"2019 5th Conference on Knowledge Based Engineering and Innovation (KBEI)","volume":"1922 1","pages":"0"},"PeriodicalIF":0.0000,"publicationDate":"2019-02-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":"1","resultStr":null,"platform":"Semanticscholar","paperid":null,"PeriodicalName":"2019 5th Conference on Knowledge Based Engineering and Innovation (KBEI)","FirstCategoryId":"1085","ListUrlMain":"https://doi.org/10.1109/KBEI.2019.8735049","RegionNum":0,"RegionCategory":null,"ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":null,"EPubDate":"","PubModel":"","JCR":"","JCRName":"","Score":null,"Total":0}
引用次数: 1
Abstract
This study deals with image based visual servoing (IBVS) of robot manipulators in the presence of uncertainties. The proposed control technique is composed of a pre-compensated term, proportional-derivative (PD) controller and a sliding mode controller (SMC) to reach fast, accurate and robust motions. Practical stability of the closed-loop system is guaranteed by using Lyapunov method. Simulation results are used to demonstrate the effectiveness of the proposed controller in the normal and uncertain conditions.
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