Title
Homography-Based Visual Servo Control With Imperfect Camera Calibration
Keywords
Lyapunov methods; Quaternion representation; Robust adaptive control; Uncertain systems; Visual servo control
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. © 2009 IEEE.
Publication Date
6-5-2009
Publication Title
IEEE Transactions on Automatic Control
Volume
54
Issue
6
Number of Pages
1318-1324
Document Type
Article
Personal Identifier
scopus
DOI Link
https://doi.org/10.1109/TAC.2009.2015541
Copyright Status
Unknown
Socpus ID
67649610922 (Scopus)
Source API URL
https://api.elsevier.com/content/abstract/scopus_id/67649610922
STARS Citation
Hu, G.; MacKunis, W.; Gans, N.; Dixon, W. E.; and Chen, Jian, "Homography-Based Visual Servo Control With Imperfect Camera Calibration" (2009). Scopus Export 2000s. 11823.
https://stars.library.ucf.edu/scopus2000/11823