Towards an LMI approach to multicriteria visual servoing

This paper proposes a general framework for the analysis and synthesis of multicriteria visual-based control schemes. Both position-based and image-based controllers can be studied, whether static or dynamic. A kinematic visual-based positioning standard problem is considered. Its embedding into a Structured Norm-bounded Linear Differential Inclusion allows to state sufficient conditions for some requirements such as the realization of the positioning task, the satisfaction of 3-D constraints or the avoidance of actuators´ saturations. Those are often expressed in terms of Matrix Inequalities.