中文摘要：

研究了机器人无标定自抗扰视觉伺服控制问题.针对系统中所用的自抗扰控制器参数选取困难问题,提出了基于自适应免疫算法的自抗扰控制器参数整定方法.证明了系统中所用的非线性离散二阶扩张状态观测器稳定的充要条件,并将该条件应用在参数整定过程中.6自由度工业机器人的实验结果表明了该方法的可行性和有效性.

英文摘要：

The problem of uncalibrated disturbance-rejection visual servoing control for robotic manipulators is studied in this paper. A parameter tuning method for disturbance-rejection controller based on adaptive immune algorithm is proposed to tackle the difficulty in choosing parameters. The sufficient and necessary condition of stability for the nonlinear discrete second order extended state observer is proved, and used in the process of parameter tuning. The experimental results in a 6DOF（degrees of freedom） industry robot show the feasibility and validity of this method.