Predictive Observer-Based Dual-Rate Prescribed Performance Control for Visual Servoing of Robot Manipulators With View Constraints.

IF 9.4 1区 计算机科学 Q1 AUTOMATION & CONTROL SYSTEMS IEEE Transactions on Cybernetics Pub Date : 2025-03-14 DOI:10.1109/TCYB.2025.3546800
Qifang Liu, Jianliang Mao, Linyan Han, Chuanlin Zhang, Jun Yang
{"title":"Predictive Observer-Based Dual-Rate Prescribed Performance Control for Visual Servoing of Robot Manipulators With View Constraints.","authors":"Qifang Liu, Jianliang Mao, Linyan Han, Chuanlin Zhang, Jun Yang","doi":"10.1109/TCYB.2025.3546800","DOIUrl":null,"url":null,"abstract":"<p><p>This article simultaneously addresses the dual-rate and view constraints issues for the image-based visual servoing (IBVS) system of robot manipulators. Considering the low sampling bandwidth of the camera, potentially diminishing the efficiency of the robotic controller in updating low-level servoing control commands, a predictive observer (PO) is initially designed to forecast the system output during the high-level sampling intervals. Moreover, by leveraging a mixture of soft-sensing and real-measured signals, a dual-rate integral-based prescribed performance control (DRIPPC) approach is devised. The benefit lies in that the proposed control method samples the low-frequency state signal while generating a relatively high-frequency control action, ensuring rapid response of the robot manipulator while maintaining strict adherence to field-of-view (FOV) constraints. Finally, the effectiveness of the proposed control approach is validated through a series of experiments conducted on a Universal Robots 5 (UR5) manipulator.</p>","PeriodicalId":13112,"journal":{"name":"IEEE Transactions on Cybernetics","volume":"PP ","pages":""},"PeriodicalIF":9.4000,"publicationDate":"2025-03-14","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":"0","resultStr":null,"platform":"Semanticscholar","paperid":null,"PeriodicalName":"IEEE Transactions on Cybernetics","FirstCategoryId":"94","ListUrlMain":"https://doi.org/10.1109/TCYB.2025.3546800","RegionNum":1,"RegionCategory":"计算机科学","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":null,"EPubDate":"","PubModel":"","JCR":"Q1","JCRName":"AUTOMATION & CONTROL SYSTEMS","Score":null,"Total":0}
引用次数: 0

Abstract

This article simultaneously addresses the dual-rate and view constraints issues for the image-based visual servoing (IBVS) system of robot manipulators. Considering the low sampling bandwidth of the camera, potentially diminishing the efficiency of the robotic controller in updating low-level servoing control commands, a predictive observer (PO) is initially designed to forecast the system output during the high-level sampling intervals. Moreover, by leveraging a mixture of soft-sensing and real-measured signals, a dual-rate integral-based prescribed performance control (DRIPPC) approach is devised. The benefit lies in that the proposed control method samples the low-frequency state signal while generating a relatively high-frequency control action, ensuring rapid response of the robot manipulator while maintaining strict adherence to field-of-view (FOV) constraints. Finally, the effectiveness of the proposed control approach is validated through a series of experiments conducted on a Universal Robots 5 (UR5) manipulator.

查看原文
分享 分享
微信好友 朋友圈 QQ好友 复制链接
本刊更多论文
求助全文
约1分钟内获得全文 去求助
来源期刊
IEEE Transactions on Cybernetics
IEEE Transactions on Cybernetics COMPUTER SCIENCE, ARTIFICIAL INTELLIGENCE-COMPUTER SCIENCE, CYBERNETICS
CiteScore
25.40
自引率
11.00%
发文量
1869
期刊介绍: The scope of the IEEE Transactions on Cybernetics includes computational approaches to the field of cybernetics. Specifically, the transactions welcomes papers on communication and control across machines or machine, human, and organizations. The scope includes such areas as computational intelligence, computer vision, neural networks, genetic algorithms, machine learning, fuzzy systems, cognitive systems, decision making, and robotics, to the extent that they contribute to the theme of cybernetics or demonstrate an application of cybernetics principles.
期刊最新文献
Data-Driven Inverse Reinforcement Learning for Heterogeneous Optimal Robust Formation Control. Predictive Observer-Based Dual-Rate Prescribed Performance Control for Visual Servoing of Robot Manipulators With View Constraints. Observer-Based Control of Networked Periodic Piecewise Systems With Encoding–Decoding Mechanism Granule Margin-Based Feature Selection in Weighted Neighborhood Systems Robust Model Predictive Control of a Gait Rehabilitation Exoskeleton With Whole Body Motion Planning and Neuro-Dynamics Optimization
×
引用
GB/T 7714-2015
复制
MLA
复制
APA
复制
导出至
BibTeX EndNote RefMan NoteFirst NoteExpress
×
×
提示
您的信息不完整,为了账户安全,请先补充。
现在去补充
×
提示
您因"违规操作"
具体请查看互助需知
我知道了
×
提示
现在去查看 取消
×
提示
确定
0
微信
客服QQ
Book学术公众号 扫码关注我们
反馈
×
意见反馈
请填写您的意见或建议
请填写您的手机或邮箱
已复制链接
已复制链接
快去分享给好友吧!
我知道了
×
扫码分享
扫码分享
Book学术官方微信
Book学术文献互助
Book学术文献互助群
群 号:481959085
Book学术
文献互助 智能选刊 最新文献 互助须知 联系我们:info@booksci.cn
Book学术提供免费学术资源搜索服务,方便国内外学者检索中英文文献。致力于提供最便捷和优质的服务体验。
Copyright © 2023 Book学术 All rights reserved.
ghs 京公网安备 11010802042870号 京ICP备2023020795号-1