Discrete Integral Sliding Mode Control in Visual Object Tracking Using Differential Kinematics

Object tracking is an important process for many applications in computer vision. This process must be implemented in a discrete manner because the images are available only at certain periods. A discrete integral sliding mode algorithm is proposed to control a stereo vision system and perform the aforementioned second task. The kinematic model of the structure is obtained using geometric algebra. The performance of the controller is compared with proportional-integral-derivative control via simulation. The implementation for a pan tilt unit is presented in real time. The algorithm presents a good and robust performance.