Paper Info
Title
Homography-Based Visual Servo Tracking Without Derivative Measurement Of Desired Trajectory
Abstract
This paper presents a new adaptive controller for homography-based visual servo tracking without using the derivative information of desired trajectory. Most of existing works require the measurement of desired trajectory derivative to provide feedforward component. However, this requirement leads to complicated off-line calculation, and the derivative measurement errors caused by image noises can degenerate the control performance. To avoid the aforementioned problems, an adaptive controller is developed based on the proposal of a derivative estimator of desired trajectory. Stability analysis is conducted by using Lyapunov-based techniques, demonstrating that both the tracking and estimation errors are uniformly ultimately bounded. Moreover, provided that the desired trajectory satisfies a certain condition, the proposed approach can achieve asymptotic tracking. The effectiveness of the proposed controller is validated by simulation results.
Year
DOI
Venue
2018
10.1109/CDC.2018.8619464
2018 IEEE CONFERENCE ON DECISION AND CONTROL (CDC)
Field
DocType
ISSN
Control theory,Servo,Computer science,Control theory,Homography,Trajectory,Observational error,Estimator,Bounded function,Feed forward
Conference
0743-1546
Citations 
PageRank 
References 
0
0.34
0
Authors
3
Name
Order
Citations
PageRank
Kaixiang Zhang1314.89
Jian Chen29319.77
Xinfang Zhang371.80