%0 Journal Article %T A 3D Sliding Mode Control Approach for Position Based Visual Servoing System %J Scientia Iranica %I Sharif University of Technology %Z 1026-3098 %A Parsapour, Mahsa %A RayatDoost, Soheil %A Taghirad, Hamid D. %D 2015 %\ 06/01/2015 %V 22 %N 3 %P 844-853 %! A 3D Sliding Mode Control Approach for Position Based Visual Servoing System %K Nonlinear controller %K Position-based visual servoing %K Unscented Kalman filter %K PD-type sliding surface %K Lyapunov theory %R %X 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. %U https://scientiairanica.sharif.edu/article_3677_47808b071c497787b7c9601aee54e8b3.pdf