NDLI: Kernel-based sliding mode control for visual servoing system

Content Provider	IET Digital Library
Author	Parsapour, Mahsa Taghirad, Hamid D.
Abstract	In this study, a new approach to design a controller for a visual servoing (VS) system is proposed. Kernel-measurement is used to track the motion of a featureless object which is defined as sum of weighted-image value through smooth kernel functions. This approach was used in kernel-based VS (KBVS). To improve the tracking error and expand the stability region, sliding mode control is integrated with kernel measurement. Proportional–integral-type sliding surface is chosen as a suitable manifold to produce the required control effort. Moreover, the stability of this algorithm is analysed via Lyapunov theory and its performance is verified experimentally by implementing the proposed method on a five degrees of freedom industrial robot. Through experimental results, it is shown that the performance of tracking error in the proposed method is more suitable than KBVS, for a wider workspace and when the object is placed near the boundary of the camera's field of view.
Starting Page	309
Ending Page	320
Page Count	12
ISSN	17519632
Volume Number	9
e-ISSN	17519640
Issue Number	Issue 3, Jun (2015)
Alternate Webpage(s)	https://digital-library.theiet.org/content/journals/iet-cvi/9/3
Alternate Webpage(s)	https://digital-library.theiet.org/content/journals/10.1049/iet-cvi.2013.0310
Journal	IET Computer Vision
Publisher Date	2014-09-02
Access Restriction	Open
Rights Holder	© The Institution of Engineering and Technology
Subject Keyword	Camera Field of View Computer Vision And Image Processing Technique Controller Design Image Sonsor Industrial Robot Kernel Based Sliding Mode Control Kernel Measurement Lyapunov Method Lyapunov Theory Multivariable Control System Object Detection Object Tracking Optical, Image And Video Signal Processing PI Control Proportional Integral Type Sliding Surface Robot Vision Robotics Sliding Mode Control Smooth Kernel Function Stability Stability in Control Theory Stability Region Tracking Error Variable Structure System Visual Servoing Visual Servoing System VS System Weighted Image Value
Content Type	Text
Resource Type	Article
Subject	Computer Vision and Pattern Recognition Software

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