Sliding mode variable structure control for visual servoing system

  • Fei Li
  • Hua-Long Xie


A visual servoing tracking controller is proposed based on the sliding mode control theory in order to achieve strong robustness against parameter variations and external disturbances. A sliding plane with time delay compensation is presented by the pre-estimate of states. To reduce the chattering of the sliding mode controller, a modified exponential reaching law and hyperbolic tangent function are applied to the design of visual controller and robot joint controller. Simulation results show that the visual servoing control scheme is robust and has good tracking performance.


Visual servoing sliding mode control variable structure control reaching law time delay 


Unable to display preview. Download preview PDF.

Unable to display preview. Download preview PDF.


  1. [1]
    S. Hutchinson, G. Hager, P. I. Corke. A tutorial on visual servo control. IEEE Transactions on Robotics and Automation, vol. 12, no. 5, pp. 651–670, 1996.CrossRefGoogle Scholar
  2. [2]
    J. H. Park, Y. J. Lee. Robust visual servoing for motion control of the ball on a plate. Mechatronics, vol. 13, no. 7, pp. 723–738, 2003.CrossRefGoogle Scholar
  3. [3]
    P. Zanne, G. Morel, F. Plestan. Sensor based robot control in the presence of uncertainties: Bounding the task function tracking errors. In Proceedings of IEEE International Conference on Robotics and Automation, IEEE, Washington, USA, vol. 4, pp. 3775–3780, 2002.Google Scholar
  4. [4]
    G. Morel, P. Zanne, F. Plestan. Robust visual servoing: Bounding the task function tracking errors. IEEE Transactions on Control Systems Technology, vol. 13, no. 6, pp. 998–1009, 2005.CrossRefGoogle Scholar
  5. [5]
    E. Zergeroglu, D. M. Dawson, M. S. De Queiroz, A. Behal. Vision-based nonlinear tracking controllers with uncertain robot-camera parameters. IEEE/ASME Transactions on Mechatronics, vol. 6, no. 3, pp. 322–37, 2001.CrossRefGoogle Scholar
  6. [6]
    E. Zergeroglu, D. M. Dawson, M. S. De Queiroz, P. Setlur. Robust visual-servo control of robot manipulators in the presence of uncertainty. Journal of Robotic Systems, vol. 20, no. 2, pp. 93–106, 2003.zbMATHCrossRefGoogle Scholar
  7. [7]
    N. P. Papanikolopoulos, B. Nelson, P. K. Khosla. Six degree-of-freedom hand/eye visual tracking with uncertain parameters. IEEE Transactions on Robotics and Automation, vol. 11, no. 5, pp. 725–732, 1995.CrossRefGoogle Scholar
  8. [8]
    Z. X. Cai. Robotics, Beijing, PRC: Tsinghua University Press, 2000. (in Chinese)Google Scholar
  9. [9]
    E. Gortcheva, R. Garrido, E. Gonzalez, A. Carvallo. Predicting a moving object position for visual servoing: Theory and experiments. International Journal of Adaptive Control and Signal Processing, vol. 15, no. 4, pp. 377–392, 2001.zbMATHCrossRefGoogle Scholar
  10. [10]
    Y. Zheng, Y. W. Jing. Discrete-time variable structure control based on sliding mode for Acrobot system. Journal of Northeastern University (Natural Science), vol. 27, no. 6, pp. 591–594, 2006. (in Chinese)zbMATHGoogle Scholar
  11. [11]
    B. Bandyopadhyay, A. Alemayehu G Egziabher, S. Janardhanan, V. Sreeram. Sliding mode control design via reduced order model approach. International Journal of Automation and Computing, vol. 4, no. 4, pp. 329–334, 2007.CrossRefGoogle Scholar
  12. [12]
    F. Qiao, Q. M. Zhu, A. FT Winfield, C. Melhuish. Adaptive slidingmode control forMIMO nonlinear systems based on fuzzy logic scheme. International Journal of Automation and Computing, no. 1, pp. 51–62, 2004.Google Scholar
  13. [13]
    W. B. Gao. Variable structure control of discrete-time systems. Acta Automatica Sinica, vol. 21, no. 2, pp. 154–161, 1995. (In Chinese)zbMATHGoogle Scholar

Copyright information

© Institute of Automation, Chinese Academy of Sciences and Springer-Verlag Berlin Heidelberg 2010

Authors and Affiliations

  1. 1.School of Information Science and EngineeringShenyang University of TechnologyShenyangPRC
  2. 2.School of Mechanical Engineering and AutomationNortheastern UniversityShenyangPRC

Personalised recommendations