Delay-dependent stability in uncalibrated image-based dynamic visual servoing robotic system
type: Item
instance of: scholarly article
title: Delay-dependent stability in uncalibrated image-based dynamic visual servoing robotic system
zbMATH Open document ID: 1407.93263
DOI: 10.1155/2018/1360874
author: Tao Li
author: Hui Zhao
author: Yu Chang
published in: Complexity
publication date: 2019-02-19T00:00:00Z
review text: Summary: This paper addresses the stability problem of uncalibrated image-based visual servoing robotic systems. Both the visual feedback delay and the uncalibrated visual parameters can be the sources of instability for visual servoing robotic systems. To eliminate the negative effects caused by kinematic uncertainties and delays, we propose an adaptive controller including the delay-affected Jacobian matrix and design an adaptive law accordingly. Besides, the delay-dependent stability conditions are provided to show the relationship between the system stability and the delayed time in order to obtain less conservative results. A Lyapunov-Krasovskii functional is constructed, and a rigorously mathematic proof is given. Finally, the simulation results are presented to show the effectiveness of the proposed control scheme.
Mathematics Subject Classification ID: 93C85
Mathematics Subject Classification ID: 93C40
Mathematics Subject Classification ID: 93D21
zbMATH DE Number: 7024879
MaRDI profile type: Publication
full work available at URL: https://doi.org/10.1155/2018/1360874
OpenAlex ID: W2895741009
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description: scientific article; zbMATH DE number 7024879