|An Enhanced IBVS Controller of a 6DOF Manipulator Using Hybrid PDSMC Method
Shutong Li, Ahmad Ghasemi, Wenfang Xie*, and Yanbin Gao
International Journal of Control, Automation, and Systems, vol. 16, no. 2, pp.844-855, 2018
Abstract : "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."
Image based visual servoing (IBVS), PD control, sliding mode control, 6DOF manipulator.
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