Sub-optimal Sliding Mode Control on a Cooperative Manipulator using Stereo Vision Machine Feedback

Abstract

In this paper, a suboptimal sliding mode control method is derived via defining the required gains in common sliding mode control algorithm with the state dependent Riccati equation, and implemented for a nonlinear closed-loop systems. The Lyapunov approach is used to check the stability of the system. Moreover, the mathematical relationship between the three-dimensional reference coordinates and the local coordinates in cameras is presented and to increase the accuracy of the system, the stereo vision algorithm is considered for measuring the position of the robot's end-effector. The vision system is an independent unit consists of two high definition (HD) cameras. The application of this measurement provides the position and orientation of Scout robot's manipulator using the inverse kinematics. The joint angle values could be calculated and then could be used as a feedback in control approach.