Visual servoing of moving targets through fractional control: A feasibility study

Abstract

In this paper, a control strategy based on fractional order approach for visual servoing systems is investigated. The proposed image-based control strategy is a fractional-order PI which takes into account the point features. In order to evaluate the designed control strategy, a visual servoing simulator consisting of a manipulator robot with 6 degrees of freedom (d.o.f.) and an eye-in-hand camera configuration was considered. The validity of the visual based controllers is shown by the simulation results which demonstrate that the proposed approach based on a fractional-order controller has a stable and convergent behavior when dealing with visual servoing applications. Simulations have been performed and the results revealed that the image-based fractional-order PI controller outperforms the conventional image-based integer-order PI controller.