Part of the book: Recent Advances in Robust Control
The accuracy and stability are two fundamental concerns of the visual servoing control system. This chapter presents a sliding mode controller for image‐based visual servoing (IBVS) which can increase the accuracy of 6DOF robotic system with guaranteed stability. The proposed controller combines proportional derivative (PD) control with sliding mode control (SMC) for a 6DOF manipulator. Compared with conventional proportional or SMC controller, this approach owns faster convergence and better disturbance rejection ability. Both simulation and experimental results show that the proposed controller can increase the accuracy and robustness of a 6DOF robotic system.
Part of the book: Recent Developments in Sliding Mode Control