Knowledge Commons of Institute of Automation,CAS
Robust adaptive visual tracking control for uncertain robotic systems with unknown dead-zone inputs | |
Wang, Fujie1,2; Liu, Zhi2; Chen, C. L. Philip3,4,5; Zhang, Yun2 | |
发表期刊 | JOURNAL OF THE FRANKLIN INSTITUTE-ENGINEERING AND APPLIED MATHEMATICS |
ISSN | 0016-0032 |
2019-08-01 | |
卷号 | 356期号:12页码:6255-6279 |
通讯作者 | Liu, Zhi(lz@gdut.edu.cn) |
摘要 | This paper is concerned with the image-based visual servoing (IBVS) control for uncalibrated camera-robot system with unknown dead-zone constraint, where the uncertain kinematics and dynamics are also considered. The control implementation is achieved by constructing a smooth inverse model for deadzone-input to eliminate the nonlinear effect resulting from the actuator constraint. A novel adaptive algorithm, which does not require a priori knowledge of the parameter intervals of dead-zone model, is proposed to update the parameter values online, and the dead-zone slopes are not required the same. Furthermore, to accommodate the uncertainties of uncalibrated camera-robot system, adaptation laws are developed to estimate the uncertain parameters, simultaneously avoiding singularity of the image Jacobian matrix. With the full consideration of unknown dead-zone constraint and system uncertainties, an adaptive robust visual tracking control scheme together with dead-zone compensation is subsequently established such that the image tracking error converges to the origin. Based on a 3-DOF manipulator, simulations are conducted to verify the tracking performance of the proposed controller. (C) 2019 The Franklin Institute. Published by Elsevier Ltd. All rights reserved. |
DOI | 10.1016/j.jfranklin.2019.05.040 |
关键词[WOS] | TRAJECTORY TRACKING ; KINEMATICS ; SYNCHRONIZATION ; DELAY |
收录类别 | SCI |
语种 | 英语 |
资助项目 | Research start-up funds of DGUT[GC300501-113] ; National Natural Science Foundation of China[61573108] ; National Natural Science Foundation of China[U1501251] ; Natural Science Foundation of Guangdong Province[2016A030313715] ; Science Fund for Distinguished Young Scholars[S20120011437] ; Ministry of Education of New Century Excellent Talent[NCET-12-0637] ; Innovation Talent Program for Youth Scholars in Guangdong[2018KQNCX252] ; Research start-up funds of DGUT[GC300501-113] ; National Natural Science Foundation of China[61573108] ; National Natural Science Foundation of China[U1501251] ; Natural Science Foundation of Guangdong Province[2016A030313715] ; Science Fund for Distinguished Young Scholars[S20120011437] ; Ministry of Education of New Century Excellent Talent[NCET-12-0637] ; Innovation Talent Program for Youth Scholars in Guangdong[2018KQNCX252] |
项目资助者 | Research start-up funds of DGUT ; National Natural Science Foundation of China ; Natural Science Foundation of Guangdong Province ; Science Fund for Distinguished Young Scholars ; Ministry of Education of New Century Excellent Talent ; Innovation Talent Program for Youth Scholars in Guangdong |
WOS研究方向 | Automation & Control Systems ; Engineering ; Mathematics |
WOS类目 | Automation & Control Systems ; Engineering, Multidisciplinary ; Engineering, Electrical & Electronic ; Mathematics, Interdisciplinary Applications |
WOS记录号 | WOS:000476898900017 |
出版者 | PERGAMON-ELSEVIER SCIENCE LTD |
引用统计 | |
文献类型 | 期刊论文 |
条目标识符 | http://ir.ia.ac.cn/handle/173211/27810 |
专题 | 离退休人员 |
通讯作者 | Liu, Zhi |
作者单位 | 1.Dongguan Univ Technol, Sch Elect Engn & Intelligentizat, Dongguan 523000, Peoples R China 2.Guangdong Univ Technol, Fac Automat, Guangzhou 510006, Guangdong, Peoples R China 3.Univ Macau, Fac Sci & Technol, Dept Comp & Informat Sci, Macau 99999, Peoples R China 4.Dalian Maritime Univ, Nav Coll, Dalian 116026, Peoples R China 5.Chinese Acad Sci, Inst Automat, State Key Lab Management & Control Complex Syst, Beijing 100080, Peoples R China |
推荐引用方式 GB/T 7714 | Wang, Fujie,Liu, Zhi,Chen, C. L. Philip,et al. Robust adaptive visual tracking control for uncertain robotic systems with unknown dead-zone inputs[J]. JOURNAL OF THE FRANKLIN INSTITUTE-ENGINEERING AND APPLIED MATHEMATICS,2019,356(12):6255-6279. |
APA | Wang, Fujie,Liu, Zhi,Chen, C. L. Philip,&Zhang, Yun.(2019).Robust adaptive visual tracking control for uncertain robotic systems with unknown dead-zone inputs.JOURNAL OF THE FRANKLIN INSTITUTE-ENGINEERING AND APPLIED MATHEMATICS,356(12),6255-6279. |
MLA | Wang, Fujie,et al."Robust adaptive visual tracking control for uncertain robotic systems with unknown dead-zone inputs".JOURNAL OF THE FRANKLIN INSTITUTE-ENGINEERING AND APPLIED MATHEMATICS 356.12(2019):6255-6279. |
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