A fractional order control strategy for visual servoing systems

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• 作者：Cosmin Copot ; Adrian Burlacu ; Clara M. Ionescu ; Corneliu Lazar ; Robin De Keyser
• 关键词：Fractional calculus ; Robotics ; Visual servoing ; Image processing
• 刊名：Mechatronics
• 出版年：October, 2013
• 年：2013
• 卷：23
• 期：7
• 页码：848-855
• 全文大小：1721 K

文摘

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 m>PIm> 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 m>PIm> controller outperforms the conventional image-based integer-order m>PIm> controller.