On Visual Servoing under Field-of-View Limits and Impulsive Perturbations*

We consider the problem of image-based visual servoing (IBVS) under inelastic visibility constraints that arise from the field-of-view (FOV) of the camera. The target is affected by possible aperiodic impulse perturbations. Under the assumption that a minimum time needs to elapse after each impulse, the proposed controller guarantees that all image features will remain strictly inside the FOV and will converge to the desired feature values with prescribed performance characteristics, related to accuracy and convergence time, between any two consecutive impulses. Simulation results clarify and verify the theoretical findings.