Sliding mode control of uncertain multivariable nonlinear systems applied to uncalibrated robotics visual servoing

Authors:
Tiago Roux Oliveira;Alessandro Jacoud Peixoto;Antonio Candea Leite;Liu Hsu
Affiliations:
Department of Electrical Engineering, COPPE, Federal University of Rio de Janeiro, Rio de Janeiro, Brazil;Department of Electrical Engineering, COPPE, Federal University of Rio de Janeiro, Rio de Janeiro, Brazil;Department of Electrical Engineering, COPPE, Federal University of Rio de Janeiro, Rio de Janeiro, Brazil;Department of Electrical Engineering, COPPE, Federal University of Rio de Janeiro, Rio de Janeiro, Brazil
Venue:
ACC'09 Proceedings of the 2009 conference on American Control Conference
Year:
2009

Citing 7
Cited 0

A robust MRAC using variable structure design for multivariable plants

Automatica (Journal of IFAC)
Output-to-state stability and detectability of nonlinear systems

Systems & Control Letters
Robot Dynamics and Control

Robot Dynamics and Control
Computer and Robot Vision

Computer and Robot Vision
Adaptive neural control of MIMO nonlinear state time-varying delay systems with unknown dead-zones and gain signs

Automatica (Journal of IFAC)
Dynamic Control of Uncertain Manipulators Through Immersion and Invariance Adaptive Visual Servoing

International Journal of Robotics Research
Brief paper: A variable structure model reference robust control without a prior knowledge of high frequency gain sign

Automatica (Journal of IFAC)

Quantified Score

Hi-index	0.00

Visualization

Abstract

An output-feedback sliding mode controller using monitoring functions was recently introduced for linear uncertain single-input-single-output (SISO) systems with unknown control direction. Here, a generalization is developed for multivariable systems with strong nonlinearities. The monitoring scheme is extended to handle the uncertainty of the plant high frequency gain matrix Kp. Our strategy provides global stability properties and exact output tracking. Experimental results with a robotics visual servoing system, using a fixed but uncalibrated camera, illustrate the robustness and practical viability of the proposed scheme.