In this chapter, a control strategy based on fractional calculus for visual servoing systems is proposed. The first part of the chapter is dedicated to fractional-order control for an open-loop unstable dynamic system, i.e. a ball and plate dynamic set-up. Next, an image-based control strategy using a point features based fractional-order PI controller is designed for a manipulator robot. A real-time visual servoing plant, composed by a manipulator robot with 6 DOF 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\documentclass[12pt]{minimal} \usepackage{amsmath} \usepackage{wasysym} \usepackage{amsfonts} \usepackage{amssymb} \usepackage{amsbsy} \usepackage{mathrsfs} \usepackage{upgreek} \setlength{\oddsidemargin}{-69pt} \begin{document}$$^{\textregistered }$$\end{document}. Using planar static objects, real-time experiments are used to evaluate the performance. The results reveal that the image-based fractional-order PI controller outperforms the conventional image-based integer-order PI controller.
Fractional-Order Controller for Visual Servoing Systems
Advances in Industrial Control
Image-Based and Fractional-Order Control for Mechatronic Systems ; Chapter : 8 ; 139-164
2020-04-11
26 pages
Article/Chapter (Book)
Electronic Resource
English
Springer Verlag | 2020
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