2D Adaptive Visual Servoing Problem: Relaxing the Excitation Requirements

Resumen: Visual servoing incorporates visual information, from an external camera, in feedback control loops for position and motion control of autonomous robot manipulators. In practical implementations of these controllers, the intrinsic and extrinsic parameters of the camera have to be a priori calibrated. In this work we deal with the uncalibrated visual servoing problem. In particular, we report two new adaptive controllers that ensure that the tracking error globally asymptotically converges to zero. One controller is the certainty equivalent version of the known parameter controller, that requires some excitation conditions, and on the second scheme we relax such excitation conditions but it, possibly, needs to inject some high gain. The performance of the proposed controllers is illustrated with numerical simulations.

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Romeo Ortega & Emmanuel Nuño. 2D Adaptive Visual Servoing Problem: Relaxing the Excitation Requirements. Memorias del Congreso Nacional de Control Automático, pp. 60-65, 2018.

Palabras clave

Visual servoing, adaptive control

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