Resilient adaptive trajectory tracking control for uncalibrated visual servoing systems with unknown actuator failures

Liu, Aoqi; Lai, Guanyu; Xiao, Hanzhen; Liu, Zhi; Zhang, Yun; Chen, C.L. Philip

doi:10.1016/j.jfranklin.2023.12.011

Cited by 4 publications

(2 citation statements)

References 42 publications

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“…Image-based visual servoing tracking compares real-time visual signals with ideal signals and uses them as feedback signals to guide the robot's motion, so the IBVS tracking effectively solves the aforementioned problems. [31] proposed an adaptive estimation algorithm based on depth-independent Jacobi matrices for tracking control of uncalibrated visual servoing system. [32] presents a new image-based uncalibrated visual servoing adaptive control algorithm to online estimate the uncalibrated parameters of the cameras and robot dynamics for harvesting robots.…”

Section: Introductionmentioning

confidence: 99%

Image moment-based visual positioning and robust tracking control of ultra-redundant manipulator

Li,

Zhou,

Zhu

et al. 2024

J Intell Robot Syst

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Image moment features can describe more general target patterns and have good decoupling properties. However, the image moment features that control the camera’s rotation motion around the x-axis and y-axis mainly depend on the target image itself. In this paper, the ultra-redundant manipulator visual positioning and robust tracking control method based on the image moments are advocated.First, six image moment features used to control camera motion around the x-axis and around the y-axis are proposed. And then, a novel method is proposed to use to select image features. For tracking a moving target, a kalman filter combined with adaptive fuzzy sliding mode control method is proposed to achieve tracking control of moving targets, which can estimate changes in image features caused by the target’s motion on-line and compensate for estimation errors. Finally, the experimental system based on Labview-RealTime system and ultra-redundant manipulator is used to verify the real-time performance and practicability of the algorithm. Experimental results are presented to illustrate the validity of the image features and tracking method.

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Section: Introductionmentioning

confidence: 99%

Image moment-based visual positioning and robust tracking control of ultra-redundant manipulator

Li,

Zhou,

Zhu

et al. 2024

J Intell Robot Syst

View full text Add to dashboard Cite

show abstract

“…Below is a brief summary of some advanced control techniques currently under development, in order to improve actuator performance, as follows [12][13][14][15]: Model Predictive Control (MPC): Uses a dynamic model of the system to predict future behavior and optimize control inputs over a specified prediction horizon. MPC is effective for systems with constraints and varying operating conditions.…”

mentioning

confidence: 99%