控制理论(社会学)
视觉伺服
非线性系统
观察员(物理)
李雅普诺夫函数
控制器(灌溉)
计算机科学
Lyapunov稳定性
奇异摄动
振动
控制工程
人工智能
机器人
数学
工程类
控制(管理)
农学
数学分析
物理
生物
量子力学
作者
K. Li,Han Zhang,Hesheng Wang
标识
DOI:10.1109/tcyb.2023.3305357
摘要
This article studies the visual servoing and vibration suppression control for flexible manipulators when the system states are unmeasurable and only the image feedback is available. The dynamic equations of flexible manipulators are decomposed into the slow and fast subsystems based on the singular perturbation theory. The nonlinear observers based on the state transformation using the Lie derivatives are proposed to estimate the unmeasurable system states and unknown camera intrinsic parameters at the same time. Then, the image-based controllers utilizing the estimated states are, respectively, designed in the slow and fast subsystems to regulate the image positions of feature points and suppress the vibration of flexible manipulators simultaneously. In the proposed approach, only the visual feedback is required to generate the control input for flexible manipulators, which simplifies the controller implementation. The stability of the proposed control scheme is proved based on the Lyapunov theory. Finally, experimental results on a flexible single-link manipulator are provided to demonstrate the effectiveness of the proposed control approach.
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