Abstract
In this paper, a visual servoing controller design method based on Takagi-Sugeno (T-S)fuzzy model and parallel distributed compensation (PDC)is proposed. First, an efficient algorithm for the tensor product model transformation is applied, which is capable of transforming the image based visual servoing (IBVS)system into the T-S fuzzy model with the least fuzzy rules. Then, according to PDC theorem, the parameters of the controller could be obtained by convex programming techniques of LMIs. The proposed approach avoids the inverse of the image Jacobian matrix and hence no image singular problem exists. What's more, it's proved that the feasible solutions of the LMIs ensure the closed-loop asymptotic stability of the visual servoing system, which can handle the system input constraints according to the actuator mechanical limitations as well. The simulation results for six degrees-of-freedom visual servoing system demonstrate the effectiveness of the algorithm.
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