Title

Design Of Stable Visual Servoing Under Sensor And Actuator Constraints Via A Lyapunov-Based Approach

Keywords

Actuator constraint; field-of-view (FOV) constraint; Lyapunov-based control; robotics; visual servoing

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. © 2012 IEEE.

Publication Date

1-1-2012

Publication Title

IEEE Transactions on Control Systems Technology

Volume

20

Issue

6

Number of Pages

1575-1582

Document Type

Article

Personal Identifier

scopus

DOI Link

https://doi.org/10.1109/TCST.2011.2168958

Socpus ID

84865401651 (Scopus)

Source API URL

https://api.elsevier.com/content/abstract/scopus_id/84865401651

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