视觉伺服
控制理论(社会学)
李雅普诺夫函数
欠驱动
Lyapunov稳定性
非线性系统
职位(财务)
控制器(灌溉)
计算机科学
数学
机器人
人工智能
控制(管理)
量子力学
生物
财务
物理
经济
农学
作者
Zhe Liu,Kai Li,Hao Tian,Hesheng Wang
出处
期刊:IEEE transactions on systems, man, and cybernetics
[Institute of Electrical and Electronics Engineers]
日期:2023-08-01
卷期号:53 (8): 5096-5105
标识
DOI:10.1109/tsmc.2023.3260472
摘要
Exact position control of the flexible-joint manipulator (FJM) is a challenging task due to the manipulator’s nonlinearity and underactuated characteristic. For the three-dimensional (3-D) rigid-link FJM, the image-based visual servoing (IBVS) approach with link-position output constraint and unknown camera parameters is investigated in this article. The controller is designed to deal with three problems. First, the visual servoing control law is divided into two domains based on the singular perturbation method, where the control input for the fast subsystem is developed to damp out the flexible joint’s vibration. Second, the adaptive updating law for estimating the unknown camera parameters is presented in the slow subsystem. Third, to guarantee that the rigid-link position keep in set constraints, the controller for the slow subsystem is designed by introducing a barrier Lyapunov function. According to the Lyapunov theorem of stability, the proposed controller for the FJM is theoretically proved to be asymptotically stable. Several numerical simulation experiments are provided to illustrate that the presented control scheme is effective.
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