کد مقاله کد نشریه سال انتشار مقاله انگلیسی نسخه تمام متن
5004270 1461188 2017 8 صفحه PDF دانلود رایگان
عنوان انگلیسی مقاله ISI
Practice articleCLFs-based optimization control for a class of constrained visual servoing systems
موضوعات مرتبط
مهندسی و علوم پایه سایر رشته های مهندسی کنترل و سیستم های مهندسی
پیش نمایش صفحه اول مقاله
Practice articleCLFs-based optimization control for a class of constrained visual servoing systems
چکیده انگلیسی


- Design a visual servo controller with adjustable parameters using image point features and some known CLF of the visual servo system.
- Present an optimized controller to satisfy constraints of the visual servo system by the Fibonacci method.
- There is no requirement of online estimating the image Jacobian's matrix and calculating the homography matrix when computing the visual servo controller.

In this paper, we use the control Lyapunov function (CLF) technique to present an optimized visual servo control method for constrained eye-in-hand robot visual servoing systems. With the knowledge of camera intrinsic parameters and depth of target changes, visual servo control laws (i.e. translation speed) with adjustable parameters are derived by image point features and some known CLF of the visual servoing system. The Fibonacci method is employed to online compute the optimal value of those adjustable parameters, which yields an optimized control law to satisfy constraints of the visual servoing system. The Lyapunov's theorem and the properties of CLF are used to establish stability of the constrained visual servoing system in the closed-loop with the optimized control law. One merit of the presented method is that there is no requirement of online calculating the pseudo-inverse of the image Jacobian's matrix and the homography matrix. Simulation and experimental results illustrated the effectiveness of the method proposed here.

ناشر
Database: Elsevier - ScienceDirect (ساینس دایرکت)
Journal: ISA Transactions - Volume 67, March 2017, Pages 507-514
نویسندگان
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