Image Based Visual Servoing for Floating Base Mobile Manipulator Systems with Prescribed Performance under Operational Constraints

This paper presents a novel Image-Based Visual Servoing (IBVS) control approach for Floating Base Mobile Manipulator Systems (FBMMSs) that imposes prescribed transient and steady-state response on the image feature coordinate errors while satisfying visibility constraints arise owing to camera’s limited field of view. The proposed strategy does not incorporate any knowledge either FBMMS dynamic model, exogenous disturbances, or inevitable camera calibration depth measurement errors. More specifically, it guarantees: (i) predefined behavior in terms overshoot, convergence rate, maximum error value features system velocities tracking errors; (ii) satisfaction view constraints; (iii) bounded closed-loop signals, (iv) reduced design implementation complexity. Additionally, performance developed scheme is solely determined by certain designer-specified functions/parameters, fully decoupled gains selection. efficiency demonstrated via realistic simulation study, using an eye-in-hand Underwater Vehicle System (UVMS) as test-bed platform.