Visual Servo Control of a Two-axis Turntable Based on Fuzzy Cerebellar Model Articulation Controller
In visual servo control system, the design of visual loop is a key link to precise tracking. To improve tracking accuracy, we discuss a FCMAC-based (fuzzy cerebellar model articulation controller) control strategy. The controller includes a basic proportional regulator and a FCMAC controller. The two blocks work together to approximate the visualmapping model through an adaptive online learning law to adjust the weights of the network. By mapping the 2-D image characteristic space to the 3-D kinematic space, we can achieve the control task of a turntable directly through visual information. Applying the proposed method to a two-axis turntable to track a dynamic object, experimental result indicates that FCMAC is capable of accurately approximating visualmapping model. The visual system shows a good performance in both accuracy and robustness.
visual servo FCMAC two-axis turntable
Zhou Chuang Chen Xiaotian Hu Fang
School of Automation, Beijing Institute of Technology, Beijing ,China Science and Technology on Complex Land Systems Simulation Laboratory, Beijing , China
国际会议
南昌
英文
419-422
2012-08-26（万方平台首次上网日期，不代表论文的发表时间）