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© 2020

Image-Based and Fractional-Order Control for Mechatronic Systems

Theory and Applications with MATLAB®

Book

Part of the Advances in Industrial Control book series (AIC)

Table of contents

  1. Front Matter
    Pages i-x
  2. Cosmin Copot, Clara Mihaela Ionescu, Cristina I. Muresan
    Pages 1-8
  3. Visual Servoing Systems and Fractional-Order Control

    1. Front Matter
      Pages 9-9
    2. Cosmin Copot, Clara Mihaela Ionescu, Cristina I. Muresan
      Pages 11-28
    3. Cosmin Copot, Clara Mihaela Ionescu, Cristina I. Muresan
      Pages 29-61
    4. Cosmin Copot, Clara Mihaela Ionescu, Cristina I. Muresan
      Pages 63-88
    5. Cosmin Copot, Clara Mihaela Ionescu, Cristina I. Muresan
      Pages 89-96
  4. Applications of Visual Servoing and Fractional-Order Control

    1. Front Matter
      Pages 97-97
    2. Cosmin Copot, Clara Mihaela Ionescu, Cristina I. Muresan
      Pages 99-122
    3. Cosmin Copot, Clara Mihaela Ionescu, Cristina I. Muresan
      Pages 123-138
    4. Cosmin Copot, Clara Mihaela Ionescu, Cristina I. Muresan
      Pages 139-164
    5. Cosmin Copot, Clara Mihaela Ionescu, Cristina I. Muresan
      Pages 165-187
    6. Cosmin Copot, Clara Mihaela Ionescu, Cristina I. Muresan
      Pages 189-191
  5. Back Matter
    Pages 193-206

About this book

Introduction

This book unites two fast-developing forms of control—vision-based control and fractional-order control—and applies them in mechatronic systems.

Image-Based and Fractional-Order Control for Mechatronic Systems is presented in two parts covering the theory and applications of the subject matter. The theoretical material presents the concepts of visual servoing and image-based feature extraction for feedback loops and fractional-order control. It discusses a range of systems from the classic monocular camera to new RGB-D sensors. The applications part of the book first discusses practical issues with the implementation of fractional-order control, comparing them with more traditional integer-order PID systems. The authors then introduce real-life examples such as a manipulator robot and a Stewart platform and results generated from such systems.

MATLAB® functions and source codes are included wherever relevant to help readers develop simulations based on the theoretical ideas and practical examples in the text. Suggestions for the use of other pertinent open-source software are also indicated with the places where such may be obtained.

With its combination of theoretical ideas and practical examples, Image-Based and Fractional-Order Control for Mechatronic Systems will be of interest to academic researchers looking to develop the fields of vision-based and fractional-order control and to engineers who are looking for developments that will help them provide closer control of their plants than can be achieved with integer-order PID.

Advances in Industrial Control reports and encourages the transfer of technology in control engineering. The rapid development of control technology has an impact on all areas of the control discipline. The series offers an opportunity for researchers to present an extended exposition of new work in all aspects of industrial control.

Keywords

Visual Servoing Systems Image-based Feedback Control Nonlinear Mechanical Systems Robot Control Collaborative Robots Fractional-order Systems and Control Human-Robot Interaction Fractional Control Fractional-order PID Control Vision-based Robot Control

Authors and affiliations

  1. 1.Department of ElectromechanicsUniversity of AntwerpAntwerpenBelgium
  2. 2.Department of Electromechanics, Systems and Metals EngineeringGhent UniversityGhentBelgium
  3. 3.Department of AutomationTechnical University of Cluj-NapocaCluj NapocaRomania

About the authors

Cosmin Copot is a post-doctoral researcher at Antwerp University. He received his PhD from Gh. Asachi University, Iasi, Romania in 2011.

Clara Ionescu is a tenured professor at Ghent University; she earned her doctorate (in applied sciences: biomedical engineering).

Cristina Muresan obtained her PhD in automatic control from the Technical University of Cluj-Napoca, Romania in 2011 and is now a professor in the same university.

The authors are all established scholars and have complementary expertise. They are recognized internationally in their field of expertise and are actively involved in the control engineering community as scientific event organizers (conferences, special sessions, invited tracks, special journal issues, etc.). They are members of various IEEE and IFAC technical committees. The authors have numerous papers and citations in Web of Science and are co-authors of technical patents.

Bibliographic information

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