Research articleGlobal finite-time adaptive control for uncalibrated robot manipulator based on visual servoing

- An Finite-time stability results rather than an asymptotic stability is proposed.
- A better dynamic stability performance of visual robot system is obtained.
- Multi-uncertainties existing in visual robot system is considered in our design.
- A novel Lyapunov-type positive function is used in the paper.

The paper addresses the finite-time convergence problem of a uncalibrated camera-robot system with uncertainties. These uncertainties include camera extrinsic and intrinsic parameters, robot dynamics and feature depth parameters, which are all considered as time-varying uncertainties. In order to achieve a better dynamic stability performance of the camera-robot system, a novel FTS adaptive controller is presented to cope with rapid convergence problem. Meanwhile, FTS adaptive laws are proposed to handle these uncertainties which exist both in robot and in camera model. The finite-time stability analysis is discussed in accordance with homogeneous theory and Lyapunov function formalism. The control method we proposed extends the asymptotic stability results of visual servoing control to a finite-time stability. Simulation has been conducted to demonstrate the performance of the trajectory tracking errors convergence under control of the proposed method.