2-D Visual Servoing with RBF Neural Networks and Velocity Observer

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


Lyapunov-like analysis, RBF Neural Netoworks.


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 and a RBF neural networks to compensate the friction and gravity. A simulation results are shown using a 2D robot manipulator with a computer vision system.

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