Model independent PD-SMC method for bionic eye systems

In this paper, a model independent PD with sliding mode control (PD-SMC) method for the bionic eye system is proposed. The designed controller is model independent, and has the advantages of both simple structure, easy design of PD controller and strong robustness of SMC method with respect to system parameter uncertainty. Lyapunov techniques and LaSalle's invariance theorem are used to support the theoretical derivations. Simulation results are illustrated to verify the superior tracking performance of the proposed PD-SMC method.

[1]  D H Fender,et al.  Nonlinearities of the human oculomotor system: time delays. , 1969, Vision research.

[2]  Fangzheng Gao,et al.  Saturated finite-time stabilization of uncertain nonholonomic systems in feedforward-like form and its application , 2016 .

[3]  Ji-Eun Choi,et al.  A proportional-derivative-sliding mode hybrid control scheme for a robot manipulator , 2004 .

[4]  J. L. Gordon,et al.  A model of the smooth pursuit eye movement system , 1986, Biological Cybernetics.

[5]  P. Dallos,et al.  Learning behavior of the eye fixation control system , 1963 .

[6]  P. Olver.  Nonlinear Systems , 2013 .

[7]  P. R. Ouyang,et al.  PD with sliding mode control for trajectory tracking of robotic system , 2014 .

[8]  Casper J. Erkelens,et al.  A model of the human smooth pursuit system based on an unsupervised adaptive controller , 1996, IEEE Trans. Syst. Man Cybern. Part A.

[9]  Yunhui Liu,et al.  Dynamic sliding PID control for tracking of robot manipulators: theory and experiments , 2003, IEEE Trans. Robotics Autom..

[10]  Karl J. Friston,et al.  Active inference and oculomotor pursuit: The dynamic causal modelling of eye movements , 2015, Journal of Neuroscience Methods.

[11]  J Fukushima,et al.  Voluntary control of saccadic eye movements in patients with schizophrenic and affective disorders. , 1990, Journal of psychiatric research.

[12]  Jean-Jacques Orban de Xivry,et al.  Kalman Filtering Naturally Accounts for Visually Guided and Predictive Smooth Pursuit Dynamics , 2013, The Journal of Neuroscience.

[13]  M. Pavel.  Predictive control of eye movement. , 1990, Reviews of oculomotor research.

[14]  A. Terry Bahill,et al.  Model emulates human smooth pursuit system producing zero-latency target tracking , 1983, Biological Cybernetics.

[15]  Graham R. Barnes,et al.  Fast, anticipatory smooth-pursuit eye movements appear to depend on a short-term store , 1998, Experimental Brain Research.

[16]  He Chen,et al.  Amplitude-Saturated Nonlinear Output Feedback Antiswing Control for Underactuated Cranes With Double-Pendulum Cargo Dynamics , 2017, IEEE Transactions on Industrial Electronics.

[17]  Stephen G. Lisberger,et al.  A model of visually-guided smooth pursuit eye movements based on behavioral observations , 1994, Journal of Computational Neuroscience.

[18]  Seiji Ono,et al.  The neuronal basis of on-line visual control in smooth pursuit eye movements , 2015, Vision Research.

[19]  Menghua Zhang,et al.  Adaptive tracking control for double-pendulum overhead cranes subject to tracking error limitation, parametric uncertainties and external disturbances , 2016 .

[20]  Cecilia Laschi,et al.  A model of the smooth pursuit eye movement with prediction and learning , 2010 .

[21]  Stefan Schaal,et al.  A model of smooth pursuit in primates based on learning the target dynamics , 2005, Neural Networks.

[22]  Wolfgang Arendt,et al.  Mathematical Analysis of Evolution, Information, and Complexity , 2009 .

[23]  Wenhui Yue,et al.  Model-independent position domain sliding mode control for contour tracking of robotic manipulator , 2017, Int. J. Syst. Sci..

[24]  Laurence R. Young,et al.  Variable Feedback Experiments Testing a Sampled Data Model for Eye Tracking Movements , 1963 .

[25]  H.L. Galiana,et al.  An internally switched model of ocular tracking with prediction , 2005, IEEE Transactions on Neural Systems and Rehabilitation Engineering.

[26]  Liu Hsu,et al.  Global tracking for robot manipulators using a simple causal PD controller plus feedforward , 2009, Robotica.

[27]  S. Whittaker,et al.  Learning patterns of eye motion for foveal pursuit. , 1982, Investigative ophthalmology & visual science.