This paper investigates the image-based visual servoing (IBVS) manipulator system with unknown hysteresis nonlinearity by utilizing the uncalibrated eye-to-hand configuration. Compared with the conventional IBVS system, the unknown actuator hysteresis nonlinearity, which widely exists in the real physical mechanical systems and significantly limits the performances of the robotic system, is fully considered. The problem of unknown actuator nonlinearity prevents direct input of existing controllers and will result in some challenging difficulties in control design. In this paper, an adaptive IBVS control scheme, which takes the unknown actuator hysteresis into account, is presented. Without the prior knowledge of both the intervals of hysteresis parameters and the bound of the dynamic disturbance term, a novel adaptive algorithm is developed to estimate the unknown parameters on-line. The image tracking errors are guaranteed to converge to a small neighborhood of the origin. Simulations and comparative experiments are carried out to test the performance of the proposed scheme.

Adaptive robust image-based visual servoing control of robot with unknown actuator hysteresis

A novel alleviating fuzzy control algorithm for a class of nonlinear stochastic systems in pure-feedback form

In this paper, a novel alleviating computation decentralized adaptive fuzzy tracking control approach is presented for a class of uncertain nonlinear large-scale systems which consist of some subsystems with both completely unknown functions and unknown dead-zones Different from the existing results that are based on the traditional back-stepping scheme as well as approximation technique of fuzzy logic systems (FLSs), this new approach assumes that the norm of optimal approximation parameter vector of FLSs and the approximation error are bounded by unknown parameters At each design step of this new approach for every subsystem, fewer (only two) bounded adaptive parameters need to be adjusted Thus, this new approach can alleviate the online computation burden and improve the robust control performance Meanwhile, under Lyapunov theorem analysis, this approach can not only guarantee that all the signals in the closed-loop system are uniformly ultimately bounded but also guarantee that the outputs can track the reference signals to a small neighborhood of zero The good performance of this approach is well demonstrated in a simulation example

A novel alleviating computation algorithm for a class of large-scale nonlinear systems with unknown dead-zones

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A novel alleviating computation algorithm for a class of large-scale nonlinear systems with unknown dead-zones