Adaptive visual servoing control of robot with unknown hysteresis constraint

Abstract

This paper considers the fusion of hysteresis constraint with the image-based visual servoing(IBVS) manipulator system. Compared with the conventional IBVS system, we fully consider the unknown hysteresis nonlinearity which widely exists in the real mechanical systems. To eliminate the effect arisen by the actuator hysteresis constraint, we propose a novel adaptive algorithm to estimate the unknown hysteresis parameters on-line. Without knowing the uncertain parameters intervals and the bound of the disturbance term, an adaptive robust controller is developed. Simulations are carried out to test the performance of the proposed controller.