模糊分层模型参考自适应控制方法在机器人视觉伺服中的应用

ACTA AERONAUTICAET ASTRONAUTICA SINICA ›› 2006, Vol. 27 ›› Issue (4): 708-712.

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Hierarchical MRAC Combined with Fuzzy Conditioning for a Visual Servo Robot

ZHANG Hai-bo^1,2, XU Gang², SUN Jian-guo¹

1. Faculty 203, Nanjing University of Aeronautics and Astronautics, Nanjing 210016, China;2. School of Engineering and Technology, Shenzhen University, Shenzhen 518060, China

Received:2005-01-14 Revised:2005-04-29 Online:2006-08-25 Published:2006-08-25

Abstract

Abstract: The image-based visual control system is studied .Firstly, the Image Jacobin Matrix (IJM) for GRB-400 robot which is a dynamic look and move system has been established. Then, a hierarchical Model Reference Adaptive Control(MRAC) law combined with a fuzzy regulator is proposed to solve the control problem, and the comparison of the experimental step responses between system with fuzzy logic and system without fuzzy regulator is delivered. The experimental results show the feasibility and advantage of the control law proposed.

Key words: visual servo, robot, hierarchical MRAC, fuzzy logic

CLC Number:

TP242.6⁺2

ZHANG Hai-bo;XU Gang;SUN Jian-guo. Hierarchical MRAC Combined with Fuzzy Conditioning for a Visual Servo Robot[J]. ACTA AERONAUTICAET ASTRONAUTICA SINICA, 2006, 27(4): 708-712.

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Hierarchical MRAC Combined with Fuzzy Conditioning for a Visual Servo Robot

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