Delay-dependent stability in uncalibrated image-based dynamic visual servoing robotic system

DOI10.1155/2018/1360874MaRDI QIDQ1722907zbMATH OpenOpenAlexFDO

Authors Tao Li, Hui Zhao, Yu Chang

Publication date 19 February 2019

Published in Complexity (Search for Journal in Brave)

Copyright license Creative Commons Attribution 4.0 International

Full work available at URL https://doi.org/10.1155/2018/1360874

Mathematics Subject Classification ID

Adaptive control/observation systems (93C40) Automated systems (robots, etc.) in control theory (93C85) Adaptive or robust stabilization (93D21)

Review text

Summary: This paper addresses the stability problem of uncalibrated image-based visual servoing robotic systems. Both the visual feedback delay and the uncalibrated visual parameters can be the sources of instability for visual servoing robotic systems. To eliminate the negative effects caused by kinematic uncertainties and delays, we propose an adaptive controller including the delay-affected Jacobian matrix and design an adaptive law accordingly. Besides, the delay-dependent stability conditions are provided to show the relationship between the system stability and the delayed time in order to obtain less conservative results. A Lyapunov-Krasovskii functional is constructed, and a rigorously mathematic proof is given. Finally, the simulation results are presented to show the effectiveness of the proposed control scheme.

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Cites work

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Cited in

(9)

• Intelligent controllers for multirobot competitive and dynamic tracking
• Sampled-data robust visual servoing control for moving target tracking of an inertially stabilized platform with a measurement delay
• A method for stabilization of ground robot path controlled by airborne autopilot with time delay
• scientific article; zbMATH DE number 5811817 (Why is no real title available?)
• scientific article; zbMATH DE number 2065654 (Why is no real title available?)
• Stabilization of a class of underactuated vehicles with uncertain position measurements and application to visual servoing
• Advances in Neural Networks – ISNN 2005
• Suboptimal robust linear visual servoing for a delayed underactuated system
• Latency vs precision: stability preserving perception scheduling

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