Fuzzy vs Nonfuzzy in 2D Visual Servoing for Robot Manipulators

被引：2

作者：

Bueno-Lopez, Maximiliano ^{[1
]}

Arteaga-Perez, Marco A. ^{[1
]}

机构：

[1] Univ Nacl Autonoma Mexico, Dept Control & Robot, Div Ingn Elect, Fac Ingn, Mexico City 04510, DF, Mexico

来源：

INTERNATIONAL JOURNAL OF ADVANCED ROBOTIC SYSTEMS | 2013年 / 10卷

关键词：

Fuzzy Tracking Control; Fuzzy Observer Design; Stability Analysis; Visual Servoing; IDENTIFICATION; STABILIZATION; SYSTEMS; DESIGN;

D O I：

10.5772/55593

中图分类号：

TP24 [机器人技术];

学科分类号：

080202 ; 1405 ;

摘要：

In this paper we consider the tracking control problem of planar robots manipulators via visual servoing in the presence of parametric uncertainties associated with the robot dynamics and the camera parameters. An image-based visual servo control is developed using a Takagi-Sugeno (T-S) fuzzy model. The design includes an image coordinate velocity observer. To the best knowledge of the authors such a proposal remains hitherto unpublished. The new scheme is compared experimentally with two different non-fuzzy algorithms showing the good performance and advantages of the complete system.

引用

页数：11

共 20 条

[11] On output regulation of direct visual servoing via velocity fields [J].

Perez, Ricardo R. ;

Arteaga, Marco A. ;

Kelly, Rafael ;

Espinosa, Arturo .

INTERNATIONAL JOURNAL OF CONTROL, 2009, 82 (04) :679-688

[12]

Sciavicco L., 2000, MODELING CONTROL ROB

[13] FUZZY IDENTIFICATION OF SYSTEMS AND ITS APPLICATIONS TO MODELING AND CONTROL [J].

TAKAGI, T ;

SUGENO, M .

IEEE TRANSACTIONS ON SYSTEMS MAN AND CYBERNETICS, 1985, 15 (01) :116-132

[14] Fuzzy regulators and fuzzy observers: Relaxed stability conditions and LMI-based designs [J].

Tanaka, K ;

Ikeda, T ;

Wang, HO .

IEEE TRANSACTIONS ON FUZZY SYSTEMS, 1998, 6 (02) :250-265

[15] A multiple Lyapunov function approach to stabilization of fuzzy control systems [J].

Tanaka, K ;

Hori, T ;

Wang, HO .

IEEE TRANSACTIONS ON FUZZY SYSTEMS, 2003, 11 (04) :582-589

[16] STABILITY ANALYSIS AND DESIGN OF FUZZY CONTROL-SYSTEMS [J].

TANAKA, K ;

SUGENO, M .

FUZZY SETS AND SYSTEMS, 1992, 45 (02) :135-156

[17]

Tanaka K., 2001, FUZZY CONTROL SYSTEM, DOI [10.1002/0471224596, DOI 10.1002/0471224596]

[18] Adaptive fuzzy neural network control design via a T-S fuzzy model for a robot manipulator including actuator dynamics [J].

Wai, Rong-Jong ;

Yang, Zhi-Wei .

IEEE TRANSACTIONS ON SYSTEMS MAN AND CYBERNETICS PART B-CYBERNETICS, 2008, 38 (05) :1326-1346

[19] Vision-based nonlinear tracking controllers with uncertain robot-camera parameters [J].

Zergeroglu, E ;

Dawson, DM ;

de Queiroz, MS ;

Behal, A .

IEEE-ASME TRANSACTIONS ON MECHATRONICS, 2001, 6 (03) :322-337

[20]

Zhang J, 2006, WCICA 2006: SIXTH WORLD CONGRESS ON INTELLIGENT CONTROL AND AUTOMATION, VOLS 1-12, CONFERENCE PROCEEDINGS, P3767

← 1 2 →