Title

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

Authors

Authors

Z. Wang; D. J. Kim;A. Behal

Comments

Authors: contact us about adding a copy of your work at STARS@ucf.edu

Abbreviated Journal Title

IEEE Trans. Control Syst. Technol.

Keywords

Actuator constraint; field-of-view (FOV) constraint; Lyapunov-based; control; robotics; visual servoing; FIELD-OF-VIEW; FEATURES; RESPECT; SCHEME; Automation & Control Systems; Engineering, Electrical & Electronic

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.

Journal Title

Ieee Transactions on Control Systems Technology

Volume

20

Issue/Number

6

Publication Date

1-1-2012

Document Type

Article

Language

English

First Page

1575

Last Page

1582

WOS Identifier

WOS:000307833600014

ISSN

1063-6536

Share

COinS