Robust uncalibrated visual servoing control based on disturbance observer.

@article{Ma2015RobustUV,
  title={Robust uncalibrated visual servoing control based on disturbance observer.},
  author={Z. Ma and J. Su},
  journal={ISA transactions},
  year={2015},
  volume={59},
  pages={
          193-204
        }
}
  • 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
    20 Citations

    Topics from this paper.

    Uncalibrated Visual Servo Tracking Control of Mobile Robots
    • Y. Qiu, B. Li, Wuxi Shi
    • Computer Science
    • 2018 IEEE 8th Annual International Conference on CYBER Technology in Automation, Control, and Intelligent Systems (CYBER)
    • 2018
    Visual Servo Tracking of Wheeled Mobile Robots With Unknown Extrinsic Parameters
    • 10
    Model-Free Visual Servo Regulation of Wheeled Mobile Robots Under Dynamic Visual Targets
    • Chenghao Yin, B. Li, Wuxi Shi
    • Computer Science
    • 2018 IEEE International Conference on Real-time Computing and Robotics (RCAR)
    • 2018
    Guaranteed Cost Control for Visual Servoing Systems of Wheeled Mobile Robots
    • Jinhui Wu, Andong Liu, L. Yu
    • Computer Science
    • 2020 5th International Conference on Advanced Robotics and Mechatronics (ICARM)
    • 2020
    An Uncalibrated Visual Servo Method Based on Projective Homography
    • 6
    • Highly Influenced

    References

    SHOWING 1-10 OF 32 REFERENCES
    Experiments on a visual servoing approach using disturbance observer
    • J. Lee, I. Suh, B. You, Sang-Rok Oh
    • Computer Science
    • Proceedings 1999 IEEE/RSJ International Conference on Intelligent Robots and Systems. Human and Environment Friendly Robots with High Intelligence and Emotional Quotients (Cat. No.99CH36289)
    • 1999
    • 3
    Uncalibrated Visual Tracking Control Without Visual Velocity
    • 52
    A novel visual servoing approach involving disturbance observer
    • J. Lee, I. Suh, B. You, Sang-Rok Oh
    • Computer Science, Mathematics
    • Proceedings 1999 IEEE International Conference on Robotics and Automation (Cat. No.99CH36288C)
    • 1999
    • 20
    Uncalibrated Eye-in-Hand Visual Servoing
    • 69
    Homography-Based Visual Servo Control With Imperfect Camera Calibration
    • 83
    • PDF
    Calibration-free robotic eye-hand coordination based on an auto disturbance-rejection controller
    • 100
    • PDF
    Population-Based Uncalibrated Visual Servoing
    • 29