The Research Of Visual Servoing System With Intelligent Control Method

The structure of robot visual servoing system is that controller receives external information from visual sensor, then the controller adjusts position and pose of the robot. Recently the main study of visual servoing system is the structure of visual servoing system, the arithmetic of fast and effective image processing and the design of visual servoing system controller.In this paper, the control problem of camera-in-hand robot system is solved. The aim of this approach is to move the robot arm in such a way that the image of the static or dynamic objects attains the desired locations in the image plane. In this paper, adaptive fuzzy control is used. An adaptive fuzzy system is designed to approximate the system whose parameters are unknown. Then an adaptive compensator is used to compensate the error which caused by the fuzzy system. So that the system can be stable.After that, adaptive fuzzy sliding mode control is used, which is composed of adaptive fuzzy control and variable structure control based on sliding mode. This approach uses an adaptive fuzzy system designed to approximate the system whose parameters are unknown. Then sliding mode control part is used to guarantee the stability of the system, and it tunes its gain on-line at the same time. On the one hand the adaptive gain can compensate the error which caused by the fuzzy system, on the other hand it can alleviate the chattering caused by the sliding mode control part to a certain extent.At last, two kinds of advanced adaptive fuzzy sliding mode control is proposed for the chattering existing in sliding mode control. The first one uses an adaptive fuzzy system tuning its parameters on-line to approximate the sign function part in the fuzzy sliding mode control. Then the system can be smoothed as it gets into the sliding mode plane, in the other word it avoids the chattering. The second one uses a sat function to replace the sign function. So that the system moves in a band area as it gets into the stable sliding mode plane. At the edge of the band area, the control is designed by the sign function to limit the system moves in the band area. In the band area, the control is designed by a line function, whose gain is small and effect is not strong. But the control can avoid the chattering powerfully.