Robust uncalibrated visual servoing control based on disturbance observer.

  title={Robust uncalibrated visual servoing control based on disturbance observer.},
  author={Z. Ma and J. Su},
  journal={ISA transactions},
  • Z. Ma, J. Su
  • Published 2015
  • Computer Science, Medicine
  • ISA transactions
  • In this paper, an uncalibrated visual servoing scheme with optimal disturbance rejection performance is proposed based on disturbance observer (DOB). Comparing with traditional uncalibrated methods, which estimate online the hand-eye relationship characterized by varying image Jacobian, the uncertainty of image Jacobian is eliminated via DOB to approach a given nominal model in this paper. By solving a constrained optimization problem transformed into an H∞ control framework, the disturbance… CONTINUE READING
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