UM
Adaptive robust image-based visual servoing control of robot with unknown actuator hysteresis
Wang F.1; Liu Z.1; Zhang Y.1; Chen C.L.P.2
2016-07-01
Source PublicationNonlinear Dynamics
ISSN1573269X 0924090X
Volume85Issue:1Pages:547-561
AbstractThis paper investigates the image-based visual servoing (IBVS) manipulator system with unknown hysteresis nonlinearity by utilizing the uncalibrated eye-to-hand configuration. Compared with the conventional IBVS system, the unknown actuator hysteresis nonlinearity, which widely exists in the real physical mechanical systems and significantly limits the performances of the robotic system, is fully considered. The problem of unknown actuator nonlinearity prevents direct input of existing controllers and will result in some challenging difficulties in control design. In this paper, an adaptive IBVS control scheme, which takes the unknown actuator hysteresis into account, is presented. Without the prior knowledge of both the intervals of hysteresis parameters and the bound of the dynamic disturbance term, a novel adaptive algorithm is developed to estimate the unknown parameters on-line. The image tracking errors are guaranteed to converge to a small neighborhood of the origin. Simulations and comparative experiments are carried out to test the performance of the proposed scheme.
KeywordAdaptive control Eye-to-hand Hysteresis nonlinearity Manipulator Uncalibrated camera Visual servoing
DOI10.1007/s11071-016-2705-5
URLView the original
Language英語
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Cited Times [WOS]:3   [WOS Record]     [Related Records in WOS]
Document TypeJournal article
CollectionUniversity of Macau
Affiliation1.Guangdong University of Technology
2.Universidade de Macau
Recommended Citation
GB/T 7714
Wang F.,Liu Z.,Zhang Y.,et al. Adaptive robust image-based visual servoing control of robot with unknown actuator hysteresis[J]. Nonlinear Dynamics,2016,85(1):547-561.
APA Wang F.,Liu Z.,Zhang Y.,&Chen C.L.P..(2016).Adaptive robust image-based visual servoing control of robot with unknown actuator hysteresis.Nonlinear Dynamics,85(1),547-561.
MLA Wang F.,et al."Adaptive robust image-based visual servoing control of robot with unknown actuator hysteresis".Nonlinear Dynamics 85.1(2016):547-561.
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