NDLI: Two solutions to the adaptive visual servoing problem

Content Provider	IEEE Xplore Digital Library
Author	Astolfi, A. Liu Hsu Netto, M.S. Ortega, R.
Copyright Year	1989
Abstract	We present two globally convergent vision-based position controllers for a planar two-links manipulator in the so-called fixed-camera configuration, where the camera orientation and scale factor are considered unknown. This is a basic adaptive visual servoing problem whose solution was hampered by the nonlinear dependence of the system dynamics on the unknown parameters. The controller design techniques of immersion and invariance and nonlinear proportional integral (PI) are used to derive the smooth adaptive schemes that ensure global asymptotic regulation without overparameterization, projections, or persistency of excitation assumptions. In the case of tracking, we establish error bounds that are reduced, eventually to zero, as the speed of the reference trajectory decreases, and with improved prior knowledge on the camera scale factor, for the immersion and invariance controller, or increasing a tuning gain for the nonlinear PI. The efficacy of the approaches is shown through simulations.
Starting Page	387
Ending Page	392
Page Count	6
File Size	352115
File Format	PDF
ISSN	1042296X
Volume Number	18
Issue Number	3
Language	English
Publisher	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Publisher Date	2002-06-01
Publisher Place	U.S.A.
Access Restriction	Subscribed
Rights Holder	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Subject Keyword	Visual servoing Cameras Manipulator dynamics Nonlinear dynamical systems Pi control Proportional control Programmable control Adaptive control Error correction Trajectory
Content Type	Text
Resource Type	Article
Subject	Control and Systems Engineering Electrical and Electronic Engineering

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