{"title":"基于图像的视觉伺服预补偿比例导数滑模控制器设计","authors":"Hamid NouriSola, Askar Azizi, Sajjad Shoja Majidabad","doi":"10.1109/KBEI.2019.8735049","DOIUrl":null,"url":null,"abstract":"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.","PeriodicalId":339990,"journal":{"name":"2019 5th Conference on Knowledge Based Engineering and Innovation (KBEI)","volume":"1922 1","pages":"0"},"PeriodicalIF":0.0000,"publicationDate":"2019-02-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":"1","resultStr":"{\"title\":\"Pre-Compensated Proportional Derivative Sliding Mode Controller Design for Image Based Visual Servoing\",\"authors\":\"Hamid NouriSola, Askar Azizi, Sajjad Shoja Majidabad\",\"doi\":\"10.1109/KBEI.2019.8735049\",\"DOIUrl\":null,\"url\":null,\"abstract\":\"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.\",\"PeriodicalId\":339990,\"journal\":{\"name\":\"2019 5th Conference on Knowledge Based Engineering and Innovation (KBEI)\",\"volume\":\"1922 1\",\"pages\":\"0\"},\"PeriodicalIF\":0.0000,\"publicationDate\":\"2019-02-01\",\"publicationTypes\":\"Journal Article\",\"fieldsOfStudy\":null,\"isOpenAccess\":false,\"openAccessPdf\":\"\",\"citationCount\":\"1\",\"resultStr\":null,\"platform\":\"Semanticscholar\",\"paperid\":null,\"PeriodicalName\":\"2019 5th Conference on Knowledge Based Engineering and Innovation (KBEI)\",\"FirstCategoryId\":\"1085\",\"ListUrlMain\":\"https://doi.org/10.1109/KBEI.2019.8735049\",\"RegionNum\":0,\"RegionCategory\":null,\"ArticlePicture\":[],\"TitleCN\":null,\"AbstractTextCN\":null,\"PMCID\":null,\"EPubDate\":\"\",\"PubModel\":\"\",\"JCR\":\"\",\"JCRName\":\"\",\"Score\":null,\"Total\":0}","platform":"Semanticscholar","paperid":null,"PeriodicalName":"2019 5th Conference on Knowledge Based Engineering and Innovation (KBEI)","FirstCategoryId":"1085","ListUrlMain":"https://doi.org/10.1109/KBEI.2019.8735049","RegionNum":0,"RegionCategory":null,"ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":null,"EPubDate":"","PubModel":"","JCR":"","JCRName":"","Score":null,"Total":0}
Pre-Compensated Proportional Derivative Sliding Mode Controller Design for Image Based Visual Servoing
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.
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