Design of a filter-based robot visual servoing system

In this paper, the L2 performance rule is adopted to deal with the interference of the visual servoing system which affects image feature points. The system output disturbance is limited to gamma. The controller which includes the camera translational and rotational velocities is designed. In the case of unknown object depth, an adaptive nonlinear control scheme is used to estimate the pointspsila depth. Under the driving of the controller, the camera can reach any desired location from any initial position with the system globally asymptotically stable and robust against the interference. This method needs the estimation values of the initial and desired depth only, other than the knowledge of geometrical models of the object or precise pointspsila depth.