ROBUST CONTROLLER DESIGN FOR IMAGE-BASED VISUAL TRACKING SYSTEM

This paper focuses on visual servoing systems, particularly on image-based visual tracking problem. Basically, in image-based visual tracking, the error signal is computed in the image plane and the command signals are generated with respect to such error by means of a visual Jacobian. The primary controller design challenge of image-based visual tracking system is the robustness with respect to calibration parameter uncertainties. In this paper, a new nonlinear controller design technique is proposed for stable image-based visual tracking. The new controller design takes advantage of the sliding mode control and it yields more robust on calibration parameter uncertainties. The range of admissible uncertainties is enlarged to modify the uncertainty bound matrix. The proposed design technique was applied on a real system and effectiveness of the method was validated through experiments.