Sliding Mode Variable Structure Control for Visual Servoing System

被引：0
|
作者：
Fei Li 1 Hua-Long Xie 2 1 School of Information Science and Engineering
机构：
来源：
Machine Intelligence Research | 2010年 / 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
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