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Wang Huaming
Xi Wenming
Zhu Jianying
Department of Mechanical and
Electrical Engineering,
Nanjing University of Aeronautics
and Astronautics,
Nanjing 210016, China
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Control Schemes for CMAC
neural network-Based Visual
Servoing*
Abstract: In IBVS (image based visual servoing), the error signal in image space should be transformed into the control signal in the input space quickly. To avoid the iterative adjustment and complicated inverse solution of image Jacobian, CMAC (cerebellar model articulation controller) neural network is inserted into visual servo control loop to implement the nonlinear mapping. Two control schemes are used. Simulation results on two schemes are provided, which show a better tracking precision and stability can be achieved using scheme 2.
Key words:
CMAC
Neural network Control scheme Visual servoing |