Lyapunov-Based Adaptive Visual Servo Tracking Control Using Central Catadioptric Camera

In this paper, a Lyapunov-based visual servo tracking controller is developed for a 6 degree-of-freedom camera-in-hand central catadioptric camera system. By using the central catadioptric camera, a panoramic field of view can be obtained. A Lyapunov-based tracking controller is developed by using homography-based image geometry coupled with a quaternion rotation representation. Finally, an asymptotic tracking result is proven through Lyapunov-based analysis methods.