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

Socpus ID

67649610922 (Scopus)

Source API URL

https://api.elsevier.com/content/abstract/scopus_id/67649610922

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