Adaptive Nonstationary Servo Control Switching from Velocity Servo to Position Servo

Adaptive Visual Servo Control

A Switching Approach to Visual Servo Control

In the recent past, many researchers have developed control algorithms for visual servo applications. In this paper, we introduce a new switching approach, in which a high-level decision maker determines which of two lowlevel visual servo controllers should be used at each control cycle. We introduce two new low-level controllers, one that relies on the homography between initial and goal image...

Velocity Control of Electro Hydraulic Servo System by Tracking Method

This paper proposes an efficient Tracking method for velocity control of an electro-hydraulic servo system (EHSS) in the presence of flow nonlinearities and internal friction. The tracking method controller is a kind of feedback error learning structure. In the proposed method, the Feedback Error Learning (FEL) algorithm is used to control the velocity. There is no need to compute the system ja...

Adaptive servo visual robot control

Adaptive controllers for robot positioning and tracking using direct visual feedback with camera-in-hand configuration are proposed in this paper. The controllers are designed to compensate for full robot dynamics. Adaptation is introduced to reduce the design sensitivity due to robot and payload dynamics uncertainties. It is proved that the control system achieves the motion control objective ...

Potential Switching Control in Visual Servo

Stability of feature-based visual seruo controllers proposed so far is local.' The initial features far from the reference may converge to features diflemnt from the reference or even worse they may not converge. In this paper, stability of feature-based visual servo is considered by using potential. The stable region is visualized and artificial potential switching is proposed to extend the st...