Adaptive Control Scheme for Visual Servo Manipulator Based On the Dead Zone Mathematical Model

In this paper, a PD control algorithm based on fuzzy logic dead compensation has been proposed. The fuzzy logic dead zone compensator was used to compensate the dead zone which existed in the mechanical system, PD control scheme was used to control trajectory of the joints of robot, so that the stability and robustness can be improved. In order to verify the validity of the control algorithm, we realized the proposed adaptive control strategy in MATLAB. The simulation results has revealed that:comparing with the traditional PD control scheme, the proposed PD control algorithm based on fuzzy logic dead compensation can effectively compensate the dead zone which existed in the mechanical system, also the position tracking performance and precision of the manipulator has been enhanced.