Sliding mode control of uncertain multivariable nonlinear systems applied to uncalibrated robotics visual servoing

摘要

An output-feedback sliding mode controller using monitoring functions was recently introduced for linear uncertain single-input-single-output (SISO) systems with unknown control direction. Here, a generalization is developed for multivariable systems with strong nonlinearities. The monitoring scheme is extended to handle the uncertainty of the plant high frequency gain matrix K <sub xmlns:mml="http://www.w3.org/1998/Math/MathML" xmlns:xlink="http://www.w3.org/1999/xlink">p</sub> . Our strategy provides global stability properties and exact output tracking. Experimental results with a robotics visual servoing system, using a fixed but uncalibrated camera, illustrate the robustness and practical viability of the proposed scheme.