A fractional order control strategy for visual servoing systems

In this paper, a control strategy based on fractional calculus for visual servoing systems is proposed. The image-based control strategy is designed using a point features based fractional-order PI controller. A real-time visual servoing system, composed of a manipulator robot with 6 degrees of freedom (d.o.f.) with an eye-in-hand camera, is used for performance evaluation of the proposed control strategy. The image acquisition and processing, together with the computing of the image-based control law are implemented in MATLAB. Using planar static objects, real-time experiments are conducted and the results reveal that the image-based fractional-order PI controller outperforms the conventional image-based integer-order PI controller.