Visual Control for Manipulator with Dead-zone Nonlinearity Constraint

被引：0
|
作者：
Wang, Fujie [1 ]
Liu, Zhi [1 ]
Zhang, Yun [1 ]
机构：
[1] Guangdong Univ Technol, Fac Automat, Guangzhou 510006, Guangdong, Peoples R China
来源：
2015 27TH CHINESE CONTROL AND DECISION CONFERENCE (CCDC) | 2015年
关键词：
visual tracking; fuzzy dead-zone; uncalibrated camera; FEEDBACK-CONTROL; TRACKING; SYSTEMS;
D O I：
暂无
中图分类号：
TP [自动化技术、计算机技术];
学科分类号：
0812 ;
摘要：
This paper presents a new and novel controller based on uncalibrated image-based visual servoing(IBVS) manipulator system with actuator fuzzy dead-zone constrain. Compared with the existing dead-zone model, the slope of dead-zone is a fuzzy value in this paper. To eliminate the harmful effect caused by fuzzy dead-zone constrain, the fuzzy adaptive controller is constructed by defuzzifying the fuzzy slope (k) over tilde to a determined value (k) over bar. It is proved that the proposed controller can guarantee the desired tracking performance by Lyapunov function and experiments.
引用
收藏
页码：2259 / 2264
页数：6
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