高技术通讯2026，Vol.36Issue(4)：397-408,12.DOI:10.3772/j.issn.1002-0470.2026.04.007
基于自抗扰控制的点线特征解耦视觉伺服方法
Decoupled visual servoing method based on active disturbance rejection control using point and line features
摘要
Abstract
A decoupled visual servoing method based on active disturbance rejection control(ADRC)using point and line features is proposed to address the high dependence on target depth information in traditional visual servoing methods and the coupling of attitude and position control when using point and line features for visual servoing.To address the issue of unknown depth information in the visual features,an extended state observer from ADRC theory is employed to dynamically compensate for visual servoing deviations caused by the unknown depth information,while also compensating for the influence of attitude control on position control and other unknown disturbances,achieving decoupled control of attitude and position.State error feedback is then used to obtain the control input for the robot's motion in space.Experimental results on servo positioning of the laminated glass edge by an industrial six-degree-of-freedom robot arm demonstrate that the robot's end-effector converges quickly,with a smooth conver-gence process,no backing or bypassing,and high positioning accuracy.This method realizes the autonomous posi-tioning operation of the robotic arm on the edge of laminated glass.关键词
自动切膜/视觉伺服/自抗扰控制/点线特征/解耦控制Key words
automatic film cutting/visual servoing/active disturbance rejection control/point and line fea-tures/decoupled control引用本文复制引用
杜浩森,方凯,韩录,刘福才..基于自抗扰控制的点线特征解耦视觉伺服方法[J].高技术通讯,2026,36(4):397-408,12.基金项目
河北省自然科学基金(F2022203043)和省级重点实验室绩效补助经费(22567612H)资助项目. （F2022203043）
