Title

Homography-Based Visual Servo Control With Imperfect Camera Calibration

Authors

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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