Design of Stable Visual Servoing Under Sensor and Actuator Constraints via a Lyapunov-Based Approach


During this temporary, Lyapunov-primarily based design techniques are used to propose a 2.5D visual servoing controller which stabilizes the robot finish-effector cause whereas satisfying sensible constraints on the sensing and therefore the actuation. 1st, a nominal feedback controller is introduced that is then changed through an optimization-primarily based approach so as to satisfy the constraints connected to limited camera field-of-read and size of actuation. In the absence of actuator constraints, the proposed management law yields semi-global asymptotic (exponential) stability. When actuator constraints are introduced, the result is native asymptotic stability with known bounds on the region of attraction. Simulation and experimental results demonstrate the effectiveness of the proposed management methodology.

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