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.


    Access

    Check access

    Check availability in my library

    Order at Subito €


    Export, share and cite



    Title :

    Fractional-Order Controller for Visual Servoing Systems


    Additional title:

    Advances in Industrial Control


    Contributors:


    Publication date :

    2020-04-11


    Size :

    26 pages





    Type of media :

    Article/Chapter (Book)


    Type of material :

    Electronic Resource


    Language :

    English




    Visual Servoing Systems

    Copot, Cosmin / Ionescu, Clara Mihaela / Muresan, Cristina I. | Springer Verlag | 2020



    Visual servoing - Nonlinear observer approach

    Hashimoto, K. / Kimura, H. | British Library Online Contents | 1995


    Visual Servoing of Legged Robots

    Echegoyen, Z. | British Library Online Contents | 2012


    TUDOR initial visual servoing experiments

    Malzahn, Jörn / Phung, Anh Son / Hoffmann, Frank et al. | TIB AV-Portal | 2011