Passivity-based adaptive 3D visual servoing without depth and image velocity measurements for uncertain robot manipulators

DOI10.1002/acs.2669zbMath1348.93199OpenAlexW2297060204MaRDI QIDQ2829493

Antonio C. Leite, Fernando Lizarralde

Publication date: 28 October 2016

Published in: International Journal of Adaptive Control and Signal Processing (Search for Journal in Brave)

Full work available at URL: https://doi.org/10.1002/acs.2669

zbMATH Keywords

uncertain systemsadaptive controlLyapunov stabilityrobot controlvisual motion

Mathematics Subject Classification ID

Control/observation systems with incomplete information (93C41) Adaptive control/observation systems (93C40) Lyapunov and other classical stabilities (Lagrange, Poisson, (L^p, l^p), etc.) in control theory (93D05) Automated systems (robots, etc.) in control theory (93C85)

Related Items (3)

Delay-dependent stability in uncalibrated image-based dynamic visual servoing robotic system ⋮ Model Predictive Control for Constrained Image‐Based Visual Servoing in Uncalibrated Environments ⋮ From adaptive control to variable structure systems - seeking harmony

Uses Software

• Robotics

Cites Work

• Adaptive visual servoing scheme free of image velocity measurement for uncertain robot manipulators
• Adaptive Jacobian vision based control for robots with uncertain depth information
• Lyapunov-based adaptive control of MIMO systems
• Single camera based motion and shape estimation using extended Kalman filtering
• Integrating optical force sensing with visual servoing for microassembly
• Immersion and invariance adaptive control of linear multivariable systems
• Overcoming Limitations of Uncalibrated Robotics Visual Servoing by means of Sliding Mode Control and Switching Monitoring Scheme
• Quaternion-based visual servo control in the presence of camera calibration error
• Adaptive robotic visual tracking: theory and experiments
• Robust Visual-Servo Control of Robot Manipulators in the Presence of Uncertainty
• Adaptive Control Design and Analysis
• Lyapunov/Passivity-Based Adaptive Control of Relative Degree Two MIMO Systems With an Application to Visual Servoing
• Adaptive Regulation of Amplitude Limited Robot Manipulators With Uncertain Kinematics and Dynamics

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