A new robust visual servoing algorithm: theory and experiment

In the paper, a new kind of robust visual servoing algorithm is put forward. The method is based on the nonlinear proportional control law, with additional term to compensate for the parameter uncertainties. Theoretical analysis proves the stability and robustness of the system. When the real image...

Full description

Saved in:
Bibliographic Details
Published inProceedings of 2003 IEEE Conference on Control Applications, 2003. CCA 2003 Vol. 2; pp. 1459 - 1462 vol.2
Main Authors Qu Yancheng, Wang Changhong, Wen Qiyong, Ma Guangcheng
Format Conference Proceeding
LanguageEnglish
Published IEEE 2003
Subjects
Cameras
Control systems
Error correction
Proportional control
Robot vision systems
Robust control
Robust stability
Robustness
Uncertain systems
Visual servoing
Online AccessGet full text

Cover

More Information
Summary:In the paper, a new kind of robust visual servoing algorithm is put forward. The method is based on the nonlinear proportional control law, with additional term to compensate for the parameter uncertainties. Theoretical analysis proves the stability and robustness of the system. When the real image Jacobian deviates from the nominal value too much, parameter estimation is performed based on Kalman filter. Application of this method to the visual tracking task shows it can successfully fulfill tracking task where traditional method cannot even work.
ISBN:078037729X
9780780377295
DOI:10.1109/CCA.2003.1223229