Title: Sliding mode active disturbance rejection control for uncalibrated visual servoing

Authors: Cuiping Pu; Yi Wu; Jie Ren; Chenyang Ran

Addresses: College of Mechanical and Electrical Engineering, Kunming University, Kunming, China ' School of Information and Control Engineering, China University of Mining and Technology, Xuzhou, China ' College of Mechanical and Electrical Engineering, Kunming University, Kunming, China ' Department of Automation, Shanghai Jiao Tong University, Shanghai, China

Abstract: A sliding mode control algorithm based on a linear extended state observer is proposed to address the multi-source uncertainty of uncalibrated visual servoing in robotic arms. Uncertainty, nonlinearity, coupling, external disturbances, etc. are considered as total disturbances. The linear expansion state observer is designed to observe the total disturbance and compensate for it. This enhances the system's anti-interference ability. The outer loop adopts sliding mode control law as state feedback. It suppresses the observation errors of the observer and ensures the stability of the system. Sliding mode control based on linear extended observer does not depend on specific tasks and system configurations. It provides a unified design framework for solving the problem of uncalibrated visual servoing. Through numerical simulations of three different disturbance cases, it was compared with PI linear extended state observer and linear active disturbance rejection to verify its good dynamic performance and disturbance rejection performance.

Keywords: active disturbance rejection control; ADRC; sliding mode control; SMC; visual servoing; mechanical arm.

DOI: 10.1504/IJSCC.2025.145784

International Journal of Systems, Control and Communications, 2025 Vol.16 No.2, pp.133 - 151

Received: 27 Sep 2024
Accepted: 13 Nov 2024
Published online: 23 Apr 2025 *

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