Image based fuzzy adaptive trajectory tracking control for dual-arm system

被引：0
|
作者：
Wang Y. [1 ,2 ]
Liu Z. [1 ]
机构：
[1] School of Automation, Guangdong University of Technology, Guangzhou
[2] Center of EducationTechnology, Guangdong University of Foreign Studies, Guangzhou
来源：
Kongzhi yu Juece/Control and Decision | 2017年 / 32卷 / 06期
关键词：
Cooperative control; Dual-arm system; Trajectory tracking control; Visual servoing;
D O I：
10.13195/j.kzyjc.2016.0558
中图分类号：
学科分类号：
摘要：
When a target object with random orientation grasped by a dual-armsystem carries out a trajectory tracking task under the sight of a fixed camera, not only the uncertainties in kinematics and dynamics generated from random orientation of the target object should be taken into consideration, but also the cooperation in kinematics and dynamics does. To address such problems, the adaptive method is adopted to estimate the position information of the mass center and feature points, the fuzzy logic system is used to approximate the unknown dynamics model, and the decentralized method is utilized to cope with the cooperation problem for dual-arm. The image based fuzzy adaptive trajectory tracking controller for the dual-arm system is designed on the basis of the position/force hybrid control method, and the system stability is rigorously proved by using Lyapunov method. Finally, the effectiveness of the proposed controller is demonstrated in the simulation of trajectory tracking. © 2017, Editorial Office of Control and Decision. All right reserved.
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页码：1019 / 1025
页数：6
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