By Topic

Two solutions to the adaptive visual servoing problem

Sign In

Cookies must be enabled to login.After enabling cookies , please use refresh or reload or ctrl+f5 on the browser for the login options.

Formats Non-Member Member
$33 $13
Learn how you can qualify for the best price for this item!
Become an IEEE Member or Subscribe to
IEEE Xplore for exclusive pricing!
close button

puzzle piece

IEEE membership options for an individual and IEEE Xplore subscriptions for an organization offer the most affordable access to essential journal articles, conference papers, standards, eBooks, and eLearning courses.

Learn more about:

IEEE membership

IEEE Xplore subscriptions

4 Author(s)
A. Astolfi ; Dept. of Electr. Eng., Imperial Coll. of Sci., Technol. & Med., London, UK ; Liu Hsu ; M. S. Netto ; R. Ortega

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

Published in:

IEEE Transactions on Robotics and Automation  (Volume:18 ,  Issue: 3 )