Title

An Optimization-Based Approach For Design And Analysis Of Stable 2.5D Visual Servoing Under Sensor And Actuator Constraints

Keywords

Lyapunov-based control; Visibility constraints; Visual servoing

Abstract

In this paper, a 2.5D visual servoing controller is proposed that utilizes a Lyapunov based design method to drive the robot pose to a setpoint while satisfying constraints related to limited camera field-of-view and size of actuation. A nominal feedback controller is first introduced which is then modified through an optimization approach in order to satisfy the motion constraints. In the absence of actuator constraints, the proposed control law yields a semi-global asymptotic (exponential) stability result via a Lyapunov analysis. When actuator constraints are introduced, the result is local asymptotic stability with known bounds on the region of attraction. Simulation results demonstrate the efficacy of the optimized visual servoing control strategy. ©2010 IEEE.

Publication Date

1-1-2010

Publication Title

Proceedings of the IEEE Conference on Decision and Control

Number of Pages

1650-1655

Document Type

Article; Proceedings Paper

Personal Identifier

scopus

DOI Link

https://doi.org/10.1109/CDC.2010.5718139

Socpus ID

79953135191 (Scopus)

Source API URL

https://api.elsevier.com/content/abstract/scopus_id/79953135191

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