Resumen
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.
Idioma original | Inglés |
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Número de artículo | 412-238 |
Páginas (desde-hasta) | 605-610 |
Número de páginas | 6 |
Publicación | Proceedings of the IASTED International Conference on Modelling, Identification and Control |
Volumen | 23 |
Estado | Publicada - 2004 |
Publicado de forma externa | Sí |
Evento | Proceedings of the 23rd IASTED International Conference on Modelling, Identification, and Control - Grindelwald, Suiza Duración: 23 feb. 2004 → 25 feb. 2004 |