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Adaptive IBVS and Force Control for Uncertain Robotic System with Unknown Dead-zone Inputs
Sihang Zhang,Haibo Ji,Hepeng Zhang 제어·로봇·시스템학회 2021 International Journal of Control, Automation, and Vol.19 No.4
This article introduces a novel control strategy for the uncertain eye-to-hand system, which is considered to work with unknown model of constraint surface and uncalibrated camera model. Besides, the uncertain dynamics and kinematics are also included in the system. In order to be closer to the real robot system, we also consider it withdead-zone inputs situation. So the parameter intervals and slopes of the dead-zone model is also unknown. Hence, anovel adaptive image-based visual servoing (IBVS) and force control approach is put forward. The control methodof unknown force and uncalibrated camera model is achieved by adaptive control. The solution of unknown deadzone inputs is completed by designing a inverse smooth model of dead-zone inputs to offset the nonlinear affect due to the actuator constraint, and the whole system is proved that the force tracking control and image position converge to zero asymptotically. Finally, the MATLAB simulation is set up and the experiment shows the validity of the proposed scheme.
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Xue Bai,Yinghui Zhao,Zhenhu Song,Hui Chen,Sihang Zhang,Yonghui Luo,YingChun Gu,Shijian Tu,Guo Yao,Sheng Chen 한국섬유공학회 2022 Fibers and polymers Vol.23 No.3
The preparation of polymer nanocomposites combined with high strength, toughness, and high transparencyremains a challenge. Aramid fibers are often used as fiber-reinforced materials for their superior mechanical and thermalproperties, but the weak interfacial force between aramid fibers and matrix polymer limits the application in compositematerials. In this work, aramid nanofibers were prepared by a two-step process, which included deprotonation and acidhydrothermal treatment to obtain better dispersions in general solvents. The hydrothermal aramid nanofibers (HANFs) wereused as reinforcing materials and blended with polyacrylonitrile (PAN) to prepare polyacrylonitrile/aramid nanofibers (PAN/HANFs) composite films with different mass fractions of HANFs. The morphologies of HANFs and the thermal, optical, andmechanical properties of composite films were investigated. Interestingly, when the mass fraction of aramid nanofibers wasless than 1.0 %, the composite films were synchronously strengthened and toughened. When the mass fraction of HANFswas 0.5 %, the tensile strength and toughness of the PAN/HANFs composite film reached 62.04 MPa and 22.56 MJ/m3,which were 74.23 % and 162.31 % higher than the pure PAN film, respectively. Besides, its average transmittance in thevisible light region remained 76.34 %. This work may offer a novel and facile strategy for high transparent reinforcedpolymer composites, which have potential applications in high strength fiber or optical film.
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