Journal
ISA TRANSACTIONS
Volume 68, Issue -, Pages 402-411Publisher
ELSEVIER SCIENCE INC
DOI: 10.1016/j.isatra.2016.10.006
Keywords
Visual servoing; Adaptive control; Finite-time stability; Lyapunov stability
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Funding
- Science and Technology Program of Tianjin, China [15ZXZNGX00290]
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uncertainties. These uncertainties include camera extrinsic and intrinsic parameters, robot dynamics and feature depth parameters, which are all considered as time-varying uncertainties. In order to achieve a better dynamic stability performance of the camera-robot system, a novel FPS adaptive controller is presented to cope with rapid convergence problem. Meanwhile, FPS adaptive laws are proposed to handle these uncertainties which exist both in robot and in camera model. The finite-time stability analysis is discussed in accordance with homogeneous theory and Lyapunov function formalism. The control method we proposed extends the asymptotic stability results of visual servoing control to a finite-time stability. Simulation has been conducted to demonstrate the performance of the trajectory tracking errors convergence under control of the proposed method. (C) 2017 ISA. Published by Elsevier Ltd. All rights reserved.
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