An Enhanced IBVS Controller of a 6DOF Manipulator Using Hybrid PD-SMC Method

作者：Li, Shutong; Ghasemi, Ahmad; Xie, Wenfang^*; Gao, Yanbin

来源：International Journal of Control Automation and Systems, 2018, 16(2): 844-855.

DOI：10.1007/s12555-016-0720-4

• Image based visual servoing (IBVS)
• PD control
• sliding mode control
• 6DOF manipulator

The accuracy and stability are two fundamental concerns of the visual servoing control system. This paper presents an enhanced image based visual servoing (IBVS) method for increasing the accuracy of a 6DOF manipulator. The controller is designed to combine proportional derivative (PD) control with sliding mode control (SMC) on a 6DOF manipulator. The properly tuned PD controller can ensure the fast tracking performance and SMC can deal with the external disturbance and uncertainties due to the depth. The enhanced IBVS controller benefits from simple structure and easy implementation of PD control and good robustness to uncertainties of SMC. The stability of the proposed method is proven by using Lyapunov method. Simulation and experimental results are used to demonstrate the effectiveness of the proposed controller.

• 出版日期2018-4
• 单位哈尔滨工程大学