A Novel Uncalibrated Visual Servoing Controller Baesd on Model-Free Adaptive Control Method with Neural Network

Nowadays, with the continuous expansion of application scenarios of robotic arms, there are more and more scenarios where nonspecialist come into contact with robotic arms. However, in terms of robotic arm visual servoing, traditional Position-based Visual Servoing (PBVS) requires a lot of calibration work, which is challenging for the nonspecialist to cope with. To cope with this situation, Uncalibrated Image-Based Visual Servoing (UIBVS) frees people from tedious calibration work. This work applied a model-free adaptive control (MFAC) method which means that the parameters of controller are updated in real time, bringing better ability of suppression changes of system and environment. An artificial intelligent neural network is applied in designs of controller and estimator for hand-eye relationship. The neural network is updated with the knowledge of the system input and output information in MFAC method. Inspired by "predictive model" and "receding-horizon" in Model Predictive Control (MPC) method and introducing similar structures into our algorithm, we realizes the uncalibrated visual servoing for both stationary targets and moving trajectories. Simulated experiments with a robotic manipulator will be carried out to validate the proposed algorithm.

Adaptive Finite-Time Model Estimation and Control for Manipulator Visual Servoing using Sliding Mode Control and Neural Networks

The image-based visual servoing without models of system is challenging since it is hard to fetch an accurate estimation of hand-eye relationship via merely visual measurement. Whereas, the accuracy of estimated hand-eye relationship expressed in local linear format with Jacobian matrix is important to whole system's performance. In this article, we proposed a finite-time controller as well as a Jacobian matrix estimator in a combination of online and offline way. The local linear formulation is formulated first. Then, we use a combination of online and offline method to boost the estimation of the highly coupled and nonlinear hand-eye relationship with data collected via depth camera. A neural network (NN) is pre-trained to give a relative reasonable initial estimation of Jacobian matrix. Then, an online updating method is carried out to modify the offline trained NN for a more accurate estimation. Moreover, sliding mode control algorithm is introduced to realize a finite-time controller. Compared with previous methods, our algorithm possesses better convergence speed. The proposed estimator possesses excellent performance in the accuracy of initial estimation and powerful tracking capabilities for time-varying estimation for Jacobian matrix compared with other data-driven estimators. The proposed scheme acquires the combination of neural network and finite-time control effect which drives a faster convergence speed compared with the exponentially converge ones. Another main feature of our algorithm is that the state signals in system is proved to be semi-global practical finite-time stable. Several experiments are carried out to validate proposed algorithm's performance.