Robust adaptive visual tracking control: Analysis and experiments

摘要

A robot visual servoing system using a fixed camera is considered. Two adaptive controllers are proposed for visually tracking a moving target in the presence of camera uncertainties. The first adaptive strategy is based on an original method proposed by Hsu and Aquino (1999). The key idea is to use a hierarchy of control methods to solve the adaptive control problem. The adaptive algorithm is robust in the sense that it has reduced sensitivity to kinematic uncertainties. The second adaptive law is based on the symmetrization of the control matrix. Experimental results with a robot manipulator in a planar motion illustrate the robustness and viability of the proposed scheme.