کد مقاله کد نشریه سال انتشار مقاله انگلیسی نسخه تمام متن
5004379 1461196 2015 12 صفحه PDF دانلود رایگان
عنوان انگلیسی مقاله ISI
Robust uncalibrated visual servoing control based on disturbance observer
ترجمه فارسی عنوان
کنترل بصری ناکارآمد بصری بر اساس نظارت ناخودآگاه
کلمات کلیدی
سرویسی بصری غیرقابل تصحیح، ناظر اختلال، نیرومندی، بهینه سازی عملکرد،
موضوعات مرتبط
مهندسی و علوم پایه سایر رشته های مهندسی کنترل و سیستم های مهندسی
چکیده انگلیسی


- A systematic design strategy is proposed with robust stability analysis.
- The problem of singularities and local minima in visual servoing control is avoided.
- External disturbances and image noises are suppressed optimally.
- Robust internal stability of the closed-loop system is ensured.

In this paper, an uncalibrated visual servoing scheme with optimal disturbance rejection performance is proposed based on disturbance observer (DOB). Comparing with traditional uncalibrated methods, which estimate online the hand-eye relationship characterized by varying image Jacobian, the uncertainty of image Jacobian is eliminated via DOB to approach a given nominal model in this paper. By solving a constrained optimization problem transformed into an H∞ control framework, the disturbance rejection performance is optimized while ensuring the robust stability of the closed-loop visual servoing system. The controller is based on the nominal image Jacobian matrix, thus avoiding singularities and local minima. Simulations and experiments show that the proposed scheme performs better in tracking an object than traditional algorithms. The disturbance and image noise rejection performance is verified.

ناشر
Database: Elsevier - ScienceDirect (ساینس دایرکت)
Journal: ISA Transactions - Volume 59, November 2015, Pages 193-204
نویسندگان
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