Visual control for manipulator with dead-zone nonlinearity constraint

This paper presents a new and novel controller based on uncalibrated image-based visual servoing(IBVS) manipulator system with actuator fuzzy dead-zone constrain. Compared with the existing dead-zone model, the slope of dead-zone is a fuzzy value in this paper. To eliminate the harmful effect caused by fuzzy dead-zone constrain, the fuzzy adaptive controller is constructed by defuzzifying the fuzzy slope k to a determined value k. It is proved that the proposed controller can guarantee the desired tracking performance by Lyapunov function and experiments.