2-D Visual Servoing with Velocity Estimation

M.A. Moreno-Armendariz, W. Yu, A.S. Pozniak, and E. Gómez-Ramírez (Mexico)


Visual Servoing, Sliding mode observer, Lyapunov-like analysis.


The PD control is very used for visual servoing. In this pa per this kind of controller is modified using a sliding mode observer to estimate the end-effector velocity. The main contributions of this paper are: apply a Lyapunov-like anal ysis, we prove the stability of the modified visual servoing. A simulation results are shown using a 2D robot manipula tor with a computer vision system.

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