Robust adaptive visual tracking control: Analysis and experiments

Author

Hsu, Liu ; Lizarralde, Fernando

Author_Institution

Dept. of Electr. Eng., Fed. Univ. of Rio de Janeiro, Brazil

fYear

2000

fDate

2000

Firstpage

874

Lastpage

879

Abstract

A robot visual servoing system using a fixed camera is considered. Two adaptive controllers are proposed for visually tracking a moving target in the presence of camera uncertainties. The first adaptive strategy is based on an original method proposed by Hsu and Aquino (1999). The key idea is to use a hierarchy of control methods to solve the adaptive control problem. The adaptive algorithm is robust in the sense that it has reduced sensitivity to kinematic uncertainties. The second adaptive law is based on the symmetrization of the control matrix. Experimental results with a robot manipulator in a planar motion illustrate the robustness and viability of the proposed scheme

Keywords

Jacobian matrices; closed loop systems; control system analysis; convergence; image sensors; manipulator kinematics; model reference adaptive control systems; motion control; robot vision; robust control; adaptive controllers; camera uncertainties; control matrix; fixed camera; kinematic uncertainties; moving target; planar motion; reduced sensitivity; robot manipulator; robot visual servoing system; robust adaptive visual tracking control; Adaptive algorithm; Adaptive control; Cameras; Programmable control; Robot vision systems; Robust control; Robustness; Target tracking; Uncertainty; Visual servoing;

fLanguage

English

Publisher

ieee

Conference_Titel

Control Applications, 2000. Proceedings of the 2000 IEEE International Conference on

Conference_Location

Anchorage, AK

Print_ISBN

0-7803-6562-3

Type

conf

DOI

10.1109/CCA.2000.897553

Filename

897553