Titlebook: Image-Based and Fractional-Order Control for Mechatronic Systems; Theory and Applicati Cosmin Copot,Clara Mihaela Ionescu,Cristina I. Mur B

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Ebct207

BARB

Fractional-Order Control: General Aspectsing an open-loop unstable system, a velocity, as well as a position system. Details regarding the tuning steps are presented and simulation examples to highlight the closed-loop dynamics. Robustness is also analysed considering significant gain variations.

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勾引

凹處

Introduction, used in the control loop. By using this type of sensor, the robot can interact with the working environment without coming into contact with it. The use of visual features extracted from images acquired with the help of the visual sensor to close the feedback loop is a viable method to control robot movements and is known as visual servoing.

主動

Rotator-Cuff

Fractional-Order Controller for Visual Servoing Systemsing, together with the computing of the image-based control law are implemented in MATLAB.. Using planar static objects, real-time experiments are used to evaluate the performance. The results reveal that the image-based fractional-order PI controller outperforms the conventional image-based integer-order PI controller.

A精確的

Simulators for Image-Based Control Architecture. A new type of robot driving interface that links the robots’ controller with MATLAB. environment is proposed. The robustness and stability of the visual feature (point features and image moments) based control laws are tested in multiple experiments. Experimental results reveal very good performances of the real-time visual servoing system.

instructive

Conclusions systems. The applications presented in this book are challenging and percutaneous to the control design effort. Furthermore, the non-linearities present in the mechatronic systems, typically dead-band, variable delays, gain variations and rate limiters are all addressed in the book and solutions are presented for the user.