@article { author = {Parsapour, Mahsa and RayatDoost, Soheil and Taghirad, Hamid D.}, title = {A 3D Sliding Mode Control Approach for Position Based Visual Servoing System}, journal = {Scientia Iranica}, volume = {22}, number = {3}, pages = {844-853}, year = {2015}, publisher = {Sharif University of Technology}, issn = {1026-3098}, eissn = {2345-3605}, doi = {}, abstract = {The performance of visual servoing systems can be enhanced through nonlinear controllers. In this paper, a sliding mode control is employed for such purpose. The controller design is based on the outputs of a pose estimator which is implemented on the scheme of the position-based visual servoing (PBVS) approach. Accordingly, a robust estimator based on unscented Kalman observer cascading with Kalman filter is used to estimate the position, velocity and acceleration of the target. Therefore, a PD-type sliding surface is selected as a suitable manifold. The combination of the estimator and nonlinear controller provides a robust and stable structure in PBVS approach. The stability analysis is verified through Lyapunov theory. The performance of the proposed algorithm is verified experimentally through an industrial visual servoing system.}, keywords = {Nonlinear controller,Position-based visual servoing,Unscented Kalman filter,PD-type sliding surface,Lyapunov theory}, url = {https://scientiairanica.sharif.edu/article_3677.html}, eprint = {https://scientiairanica.sharif.edu/article_3677_47808b071c497787b7c9601aee54e8b3.pdf} }