Image-based Visual Servoing using Sliding mode control

Abstract

Visual servoing consists of controlling the displacements of a robot using, in closed loop, the data provided by the camera. In this paper, we propose to design the nonlinear controller for image-based visual servoing which is more robust than classical controller on the parameter uncertainties. It can be guaranteed not only stability of the system but the tracking errors boundness which considers the gain. Additionally using the modified uncertainty bound matrix, the range of admissible uncertainties is increased