Potential Switching Control in Visual Servo
نویسندگان
چکیده
Stability of feature-based visual seruo controllers proposed so far is local.' The initial features far from the reference may converge to features diflemnt from the reference or even worse they may not converge. In this paper, stability of feature-based visual servo is considered by using potential. The stable region is visualized and artificial potential switching is proposed to extend the stable -ion.
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