Pre-Compensated Proportional Derivative Sliding Mode Controller Design for Image Based Visual Servoing

摘要

This study deals with image based visual servoing (IBVS) of robot manipulators in the presence of uncertainties. The proposed control technique is composed of a pre-compensated term, proportional-derivative (PD) controller and a sliding mode controller (SMC) to reach fast, accurate and robust motions. Practical stability of the closed-loop system is guaranteed by using Lyapunov method. Simulation results are used to demonstrate the effectiveness of the proposed controller in the normal and uncertain conditions.