Stable Visual Servoing Through Hybrid Switched-System Control

• Published in: IEEE transactions on robotics Vol. 23; no. 3; pp. 530 - 540
• Main Authors: Gans, N.R., Hutchinson, S.A.
• Format: Journal Article
• Language: English
• Published: New York, NY IEEE 01.06.2007; Institute of Electrical and Electronics Engineers; The Institute of Electrical and Electronics Engineers, Inc. (IEEE)
• Subjects: Applied sciences; Asymptotic properties; Asymptotic stability; Cameras; Computer science; control theory; systems; Control system synthesis; Control systems; Control theory. Systems; Error correction; Errors; Exact sciences and technology; Feedback loop; Gallium nitride; Hybrid control systems; Law; Methods; Robot vision systems; Robotics; Robots; Servomechanisms; Servosystems; Simulation; Stability; Switched-system control; vision based control; Visual; Visual servoing; Multimodel control; Hybrid control; Position control; Control program; Feedback regulation; Visual servoing; Switching; Image method; Robotics; Hybrid system; Closed feedback; Asymptotic stability; Control loop; Servomechanism
• ISSN: 1552-3098; 1941-0468
• DOI: 10.1109/TRO.2007.895067

Visual servoing methods are commonly classified as image-based or position-based, depending on whether image features or the camera position define the signal error in the feedback loop of the control law. Choosing one method over the other gives asymptotic stability of the chosen error but surrenders control over the other. This can lead to system failure if feature points are lost or the robot moves to the end of its reachable space. We present a hybrid switched-system visual servo method that utilizes both image-based and position-based control laws. We prove the stability of a specific, state-based switching scheme and present simulated and experimental results.