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

    Authors

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

    Comments

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    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

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