Fractional order PDμ control of a visual servoing manipulator system

In this paper, a fractional order PD^μ controller based on visual features is presented. A manipulator robot with 6 degrees of freedom and an eye-in-hand camera configuration is employed to design a visual servoing control architecture. The image based control law was designed using point features. A Matlab simulator which implements the visual control architecture was developed and the results were compared with a classical integer order controller. The validity of the visual based controllers is shown by the simulation results which demonstrate that the proposed approach based on a fractional order controller has a stable and convergent behavior when dealing with visual servoing applications. The fractional order PD^μ controller provides better performances in comparison with an integer order PD controller.