2-D Visual servoing with velocity estimation

Marco A. Moreno-Armendariz; Wen Yu; Alexander S. Pozniak; Eduardo Gómez-Ramírez

2-D Visual servoing with velocity estimation

Marco A. Moreno-Armendariz, Wen Yu, Alexander S. Pozniak, Eduardo Gómez-Ramírez

Research output: Contribution to journal › Conference article › peer-review

Abstract

The PD control is very used for visual servoing. In this paper 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 analysis, we prove the stability of the modified visual servoing. A simulation results are shown using a 2D robot manipulator with a computer vision system.

Original language	English
Article number	412-238
Pages (from-to)	605-610
Number of pages	6
Journal	Proceedings of the IASTED International Conference on Modelling, Identification and Control
Volume	23
State	Published - 2004
Externally published	Yes
Event	Proceedings of the 23rd IASTED International Conference on Modelling, Identification, and Control - Grindelwald, Switzerland Duration: 23 Feb 2004 → 25 Feb 2004

Keywords

Lyapunov-like analysis
Sliding mode observer
Visual Servoing

Cite this

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title = "2-D Visual servoing with velocity estimation",

abstract = "The PD control is very used for visual servoing. In this paper 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 analysis, we prove the stability of the modified visual servoing. A simulation results are shown using a 2D robot manipulator with a computer vision system.",

keywords = "Lyapunov-like analysis, Sliding mode observer, Visual Servoing",

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T1 - 2-D Visual servoing with velocity estimation

AU - Moreno-Armendariz, Marco A.

AU - Yu, Wen

AU - Pozniak, Alexander S.

AU - Gómez-Ramírez, Eduardo

PY - 2004

Y1 - 2004

N2 - The PD control is very used for visual servoing. In this paper 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 analysis, we prove the stability of the modified visual servoing. A simulation results are shown using a 2D robot manipulator with a computer vision system.

AB - The PD control is very used for visual servoing. In this paper 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 analysis, we prove the stability of the modified visual servoing. A simulation results are shown using a 2D robot manipulator with a computer vision system.

KW - Lyapunov-like analysis

KW - Sliding mode observer

KW - Visual Servoing

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M3 - Artículo de la conferencia

AN - SCOPUS:11844275947

SN - 1025-8973

VL - 23

SP - 605

EP - 610

JO - Proceedings of the IASTED International Conference on Modelling, Identification and Control

JF - Proceedings of the IASTED International Conference on Modelling, Identification and Control

M1 - 412-238

T2 - Proceedings of the 23rd IASTED International Conference on Modelling, Identification, and Control

Y2 - 23 February 2004 through 25 February 2004

ER -

2-D Visual servoing with velocity estimation

Abstract

Keywords

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