دورية أكاديمية
Image-Based Visual Servoing for Three Degree-of-Freedom Robotic Arm with Actuator Faults
| العنوان: | Image-Based Visual Servoing for Three Degree-of-Freedom Robotic Arm with Actuator Faults |
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| المؤلفون: | Jiashuai Li, Xiuyan Peng, Bing Li, Mingze Li, Jiawei Wu |
| المصدر: | Actuators, Vol 13, Iss 6, p 223 (2024) |
| بيانات النشر: | MDPI AG, 2024. |
| سنة النشر: | 2024 |
| المجموعة: | LCC:Materials of engineering and construction. Mechanics of materials LCC:Production of electric energy or power. Powerplants. Central stations |
| مصطلحات موضوعية: | image-based visual servoing, fault-tolerant control, iterative learning, sliding mode control, robotic arm, Materials of engineering and construction. Mechanics of materials, TA401-492, Production of electric energy or power. Powerplants. Central stations, TK1001-1841 |
| الوصف: | This study presents a novel image-based visual servoing fault-tolerant control strategy aimed at ensuring the successful completion of visual servoing tasks despite the presence of robotic arm actuator faults. Initially, a depth-independent image-based visual servoing model is established to mitigate the effects of inaccurate camera parameters and missing depth information on the system. Additionally, a robotic arm dynamic model is constructed, which simultaneously considers both multiplicative and additive actuator faults. Subsequently, model uncertainties, unknown disturbances, and coupled actuator faults are consolidated as centralized uncertainties, and an iterative learning fault observer is designed to estimate them. Based on this, suitable sliding surfaces and control laws are developed within the super-twisting sliding mode visual servo controller to rapidly reduce control deviation to near zero and circumvent the chattering phenomenon typically observed in traditional sliding mode control. Finally, through comparative simulation between different control strategies, the proposed method is shown to effectively counteract the effect of actuator faults and exhibit robust performance. |
| نوع الوثيقة: | article |
| وصف الملف: | electronic resource |
| اللغة: | English |
| تدمد: | 2076-0825 |
| Relation: | https://www.mdpi.com/2076-0825/13/6/223; https://doaj.org/toc/2076-0825 |
| DOI: | 10.3390/act13060223 |
| URL الوصول: | https://doaj.org/article/514bf2a8d97e463c8b79ad72cbc0e2bb |
| رقم الأكسشن: | edsdoj.514bf2a8d97e463c8b79ad72cbc0e2bb |
| قاعدة البيانات: | Directory of Open Access Journals |
Full Text Finder | تدمد: | 20760825 |
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| DOI: | 10.3390/act13060223 |