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As for PID controllers with the traditional structure, performance of the resulting system is always limited since there are only three parameters available to tune. As far as Cartesian regulation of robot manipulators with uncertain Jacobian matrix is concerned, a novel form of PID controller, i.e. PD plus Delay-feedback integrator is proposed and it improves transient performance significantly over...
The conventional image-based visual servoing leads to image singularities that might cause control instabilities. To avoid this problem, in this paper, the image moments are used as features for visual servoing, where the Jacobian matrix is full rank and upper triangular. Thus, it has the maximal decoupled structure and simplifies the controller. The general analytical form of the interaction matrix...
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