文章基本信息

标题：On Achieving Bounded Harvest Times in Robotic Fruit Harvesting: A Finite-Time Visual Servo Control Approach
本地全文：下载
作者：S.S. Mehta ; C. Ton ; M. Rysz 等
期刊名称：IFAC PapersOnLine
印刷版ISSN：2405-8963
出版年度：2019
卷号：52
期号：30
页码：114-119
DOI：10.1016/j.ifacol.2019.12.507
语种：English
出版社：Elsevier
摘要：To improve commercial feasibility of robotic harvesters, it is utmost important to reduce and be able to guarantee harvesting times. A significant portion of this responsibility is on the control system. Current visual servo control methods can at best achieve exponential regulation of a robot (i.e., theoretically infinite convergence time), making it impossible to predict harvest time. The aim of this paper is to introduce a new finite-time visual servo control approach that guarantees finite (i.e., bounded) and computable harvest times. To this end, a continuous terminal sliding mode visual servo controller is developed, and Lyapunov-based stability analysis is presented to guarantee finite-time regulation of the robot to a target fruit. Further, we derive expressions for the bound on the harvesting time, which can aid post-harvest operations management. The developed controller is validated through numerical simulations.
关键词：KeywordsHarvesting timeAgricultural roboticsTerminal sliding mode control