Passivity-based adaptive 3D visual servoing without depth and image velocity measurements for uncertain robot manipulators

DOI10.1002/ACS.2669MaRDI QIDQ2829493zbMATH OpenOpenAlexFDO

Authors Antonio C. Leite, Fernando Lizarralde

Publication date 28 October 2016

Published in International Journal of Adaptive Control and Signal Processing (Search for Journal in Brave)

Full work available at URL https://doi.org/10.1002/acs.2669

zbMATH Keywords

adaptive controlLyapunov stabilityuncertain systemsrobot controlvisual motion

Mathematics Subject Classification ID

Adaptive control/observation systems (93C40) Control/observation systems with incomplete information (93C41) Automated systems (robots, etc.) in control theory (93C85) Lyapunov and other classical stabilities (Lagrange, Poisson, (L^p, l^p), etc.) in control theory (93D05)

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Cites work

• Adaptive Control Design and Analysis
• Adaptive Jacobian vision based control for robots with uncertain depth information
• Adaptive Regulation of Amplitude Limited Robot Manipulators With Uncertain Kinematics and Dynamics
• Adaptive robotic visual tracking: theory and experiments
• Adaptive visual servoing scheme free of image velocity measurement for uncertain robot manipulators
• Immersion and invariance adaptive control of linear multivariable systems
• Integrating optical force sensing with visual servoing for microassembly
• Lyapunov-based adaptive control of MIMO systems
• Lyapunov/Passivity-Based Adaptive Control of Relative Degree Two MIMO Systems With an Application to Visual Servoing
• Overcoming limitations of uncalibrated robotics visual servoing by means of sliding mode control and switching monitoring scheme
• Quaternion-based visual servo control in the presence of camera calibration error
• Robust Visual-Servo Control of Robot Manipulators in the Presence of Uncertainty
• Single camera based motion and shape estimation using extended Kalman filtering

Cited in

(8)

• Adaptive Jacobian vision based control for robots with uncertain depth information
• Adaptive visual servoing scheme free of image velocity measurement for uncertain robot manipulators
• Adaptive visual servoing of robot manipulators
• Adaptive visual tracking for robotic systems without image-space velocity measurement
• Editorial: From adaptive control to variable structure systems -- seeking harmony. Special issue devoted to 70th birthday of Professor Liu Hsu
• A performance criterion for the depth estimation with application to robot visual servo control
• Delay-dependent stability in uncalibrated image-based dynamic visual servoing robotic system
• Model predictive control for constrained image-based visual servoing in uncalibrated environments

Describes a project that uses

Uses Software

• Robotics

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