Adaptive Visual Servo Control

Adaptive Speed Control of Three-Phase Induction Servo-drives Based on Feedback Linearization Theory

In this paper, based on feedback linearization control method and using a special PI (propotational integrator) regulator (IP) in combination with a feed-forward controller, a three-phase induction servo-drive is speed controlled. First, an observer is employed to estimate the rotor d and q axis flux components. Then, two input-output state variables are introduced to control the dynamics of to...

Adaptive Speed Control of Three-Phase Induction Servo-drives Based on Feedback Linearization Theory

In this paper, based on feedback linearization control method and using a special PI (propotational integrator) regulator (IP) in combination with a feed-forward controller, a three-phase induction servo-drive is speed controlled. First, an observer is employed to estimate the rotor d and q axis flux components. Then, two input-output state variables are introduced to control the dynamics of to...

Adaptive Calibration and Control of 2 Dmonocular Visual Servo

For a majority of visual servo systems, accurate camera{robot calibration is essential for precision tasks, such as tracking time{varying end{eeector trajectories in the image plane. This paper presents details of control{theoretic approaches to calibration of monocular visual servo systems in the case of a planar robot with workspace perpendicular to the optical axis of the imaging system. An ...

Dynamic Visual Servo Control cf Robots : A n Adaptive Image - Based Approach

Adaptive visual servo control to simultaneously stabilize image and pose error

A novel, Lyapunov-based visual servo controller is presented that stabilizes both the entire image and pose error vectors simultaneously, rather than a subset of the errors. Furthermore, the controller uses adaptive depth estimation to eliminate the need to measure depth or obtain knowledge of the scene. A stability proof is presented. Simulation and experimental results compare the performance...

Adaptive homography-based visual servo tracking

In this paper, a homography-based adaptive visual servo controller is described to enable a robot endeffector to track a desired Euclidean space trajectory as determined by a sequence of images for the fixed camera configuration. To achieve the objective, a Lyapunov-based adaptive control strategy is employed to actively compensate for unknown depth measurements and the lack of an object model....