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1.025
Q1(Year 2015)
ISSN : 1026-3098
e-ISSN : 2345-3605
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Publication Information : Volume 22 - Number 3 - Successive Number 3
Type : Article
Topics of Paper : Transaction on Mechanical Engineering
English Title : A 3D Sliding Mode Control Approach for Position Based Visual Servoing System
English Abstract : The performance of visual servoing systems can be enhanced through nonlinear controllers. In this paper, a sliding mode control is employed for such purpose. The controller design is based on the outputs of a pose estimator which is implemented on the scheme of the position-based visual servoing (PBVS) approach. Accordingly, a robust estimator based on unscented Kalman observer cascading with Kalman filter is used to estimate the position, velocity and acceleration of the target. Therefore, a PD-type sliding surface is selected as a suitable manifold. The combination of the estimator and nonlinear controller provides a robust and stable structure in PBVS approach. The stability analysis is verified through Lyapunov theory. The performance of the proposed algorithm is verified experimentally through an industrial visual servoing system.
English Keywords : Nonlinear controller, Position-based visual servoing, Unscented Kalman filter, PD-type sliding surface, Lyapunov theory
Refrences :
Number Of Pages :
From 844 to 853


Authors :
The AuthorAuthor SequenceOrganizationOrganization ( english )AffiliationEmailEducation
Mahsa Parsapour 1Advanced Robotics and Automated Systems (ARAS), Industrial Control Center of Excellence (ICEE), Faculty of Electrical and Computer Engineering, K. N. Toosi University of Technology, Tehran, Iran  mahsa.parsapour.1989@ieee.org 
Soheil RayatDoost 2Advanced Robotics and Automated Systems (ARAS), Industrial Control Center of Excellence (ICEE), Faculty of Electrical and Computer Engineering, K. N. Toosi University of Technology, Tehran, Iran  s.rayatdoost@ut.ac.ir 
Prof. Hamid D. Taghirad
(Author)
3Advanced Robotics and Automated Systems (ARAS), Industrial Control Center of Excellence (ICEE),  Professortaghirad@kntu.ac.ir 
Published Issues
2017
Transactions on Civil Engineering
Transactions on Mechanical Engineering
Transactions on Industrial Engineering
2016
2015
Transactions on Civil Engineering
Transactions on Mechanical Engineering
Transactions on Chemistry and Chemical Engineering
Transactions on Computer Science & Engineering and Electrical Engineering
Transactions on Industrial Engineering
Transactions on Nanotechnology
2014
Transactions on Civil Engineering
Transactions on Mechanical Engineering
Transactions on Chemistry and Chemical Engineering
Transactions on Computer Science & Engineering and Electrical Engineering
Transactions on Industrial Engineering
Transactions on Nanotechnology
2013
Transactions on Civil Engineering
Transactions on Mechanical Engineering
Transactions on Chemistry and Chemical Engineering
Transactions on Computer Science & Engineering and Electrical Engineering
Transactions on Industrial Engineering
Transactions on Nanotechnology

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