IMAGE-BASED TARGET TRACKING WITH MULTI-CONSTRAINTS SATISFACTION

This paper presents a multicriteria image-based controller that allows to track moving targets with square integrable velocity. The proposed approach is based on both polytopic and norm-bounded representations of uncertainties and uses an original sector condition for the description of saturations. The controller allows to stabilize the camera despite depth uncertainty, bounds on visual features errors to ensure visibility, and limits on the camera velocity and acceleration. We determine a neighborhood of the origin inside which the system trajectories remain during the tracking. Asymptotic stability of the closed-loop system is proved when the target is at rest.