Robust adaptive visual tracking control for uncertain robotic systems with unknown dead-zone inputs

doi:10.1016/j.jfranklin.2019.05.040

	Robust adaptive visual tracking control for uncertain robotic systems with unknown dead-zone inputs
	Wang, Fujie 1,2; Liu, Zhi 2; Chen, C. L. Philip 3,4,5; Zhang, Yun 2
刊名	JOURNAL OF THE FRANKLIN INSTITUTE-ENGINEERING AND APPLIED MATHEMATICS
	2019-08-01
卷号	356 期号:12 页码:6255-6279
ISSN号	0016-0032
DOI	10.1016/j.jfranklin.2019.05.040
通讯作者	Liu, Zhi(lz@gdut.edu.cn)
英文摘要	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.
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]
WOS关键词	TRAJECTORY TRACKING ; KINEMATICS ; SYNCHRONIZATION ; DELAY
WOS研究方向	Automation & Control Systems ; Engineering ; Mathematics
语种	英语
出版者	PERGAMON-ELSEVIER SCIENCE LTD
WOS记录号	WOS:000476898900017
资助机构	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
内容类型	期刊论文
源URL	[http://ir.ia.ac.cn/handle/173211/27809]
专题	中国科学院自动化研究所
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.