A surveillance camera algorithm based on the sliding mode approach with measurement's disturbance

摘要

The sliding mode control (SMC) is a variable structure, widely spread control strategy thanks to its efficient features such as robustness, easy implementation and reliability regarding disturbances and nonlinear uncertainties. Firstly, SMC has been implemented on a robot manipulator with three degrees of freedom used for a surveillance camera system. Then, and in order to improve the robustness of the proposed approach, an additive measurement's noise has been introduced. Simulation results show the efficiency of the Sliding Mode Controller applied to a robot manipulator system in a motion control task, which is used to ensure the displacement of a surveillance camera.