Design of Stable Visual Servoing Under Sensor and Actuator Constraints via a Lyapunov-Based Approach | IEEE Journals & Magazine | IEEE Xplore

Design of Stable Visual Servoing Under Sensor and Actuator Constraints via a Lyapunov-Based Approach


Abstract:

In this brief, Lyapunov-based design techniques are utilized to propose a 2.5D visual servoing controller which stabilizes the robot end-effector pose while satisfying pr...Show More

Abstract:

In this brief, Lyapunov-based design techniques are utilized to propose a 2.5D visual servoing controller which stabilizes the robot end-effector pose while satisfying practical constraints on the sensing and the actuation. First, a nominal feedback controller is introduced which is then modified through an optimization-based approach in order to satisfy the constraints related to limited camera field-of-view and size of actuation. In the absence of actuator constraints, the proposed control law yields semi-global asymptotic (exponential) stability. When actuator constraints are introduced, the result is local asymptotic stability with known bounds on the region of attraction. Simulation and experimental results demonstrate the effectiveness of the proposed control methodology.
Published in: IEEE Transactions on Control Systems Technology ( Volume: 20, Issue: 6, November 2012)
Page(s): 1575 - 1582
Date of Publication: 17 October 2011

ISSN Information:


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