Homography-Based Visual Servo Control With Imperfect Camera Calibration

    Authors

    G. Hu; W. MacKunis; N. Gans; W. E. Dixon; J. Chen; A. Behal;D. Dawson

    Comments

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    Abbreviated Journal Title

    IEEE Trans. Autom. Control

    Keywords

    Lyapunov methods; quaternion representation; robust adaptive control; uncertain systems; visual servo control; UNCALIBRATED CAMERA; ROBOTS; Automation & Control Systems; Engineering, Electrical & Electronic

    Abstract

    In this technical note, a robust adaptive uncalibrated visual servo controller is proposed to asymptotically regulate a robot end-effector to a desired pose. A homography-based visual servo control approach is used to address the six degrees-of-freedom regulation problem. A high-gain robust controller is developed to asymptotically stabilize the rotation error, and an adaptive controller is developed to stabilize the translation error while compensating for the unknown depth information and intrinsic camera calibration parameters. A Lyapunov-based analysis is used to examine the stability of the developed controller.

    Journal Title

    Ieee Transactions on Automatic Control

    Volume

    54

    Issue/Number

    6

    Publication Date

    1-1-2009

    Document Type

    Article

    Language

    English

    First Page

    1318

    Last Page

    1324

    WOS Identifier

    WOS:000267064000016

    ISSN

    0018-9286

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