A 3D sliding mode control approach for position based visual servoing system

The performance of visual servoing systems can be enhanced through nonlinear controllers. in this paper, a sliding mode control is employed for such a purpose. the controller design is based on the outputs of a pose estimator which is implemented on the scheme of the position-based visual servoing (pbvs) approach. accordingly, a robust estimator based on unscented kalman observer cascading with kalman filter is used to estimate the position, velocity and acceleration of the target. therefore, a pd-type sliding surface is selected as a suitable manifold. the combination of the estimator and nonlinear controller provides a robust and stable structure in pbvs approach. the stability analysis is verified through lyapunov theory. the performance of the proposed algorithm is verified experimentally through an industrial visual servoing system.