A novel Adaptive sliding mode Visual tracking control for an uncalibrated robot system with unknown Robot and camera parameters

In this article, a novel visual feedback control model for fix camera configuration is proposed. Using non-linear controller has many advantages. Robustness can be noted as the most important benefit of this type of controller. It s very important for visual servo systems to be robust in presence of Uncertainty in robot dynamic and external disturbances like payload variation, Calibration Error in vision system. We design a novel robust adaptive Sliding mode controller for a position based visual servoing systems. The robustness and capabilities of the proposed approach are investigated in simulation for an example robot.