Robust uncalibrated visual servoing control based on disturbance observer.

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