Delay-Dependent Stability in Uncalibrated Image-Based Dynamic Visual Servoing Robotic System
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 u...
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| Format: | Article |
| Language: | English |
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Wiley
2018-01-01
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| Series: | Complexity |
| Online Access: | http://dx.doi.org/10.1155/2018/1360874 |
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| _version_ | 1832562990577090560 |
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| author | Tao Li Hui Zhao Yu Chang |
| author_facet | Tao Li Hui Zhao Yu Chang |
| author_sort | Tao Li |
| collection | DOAJ |
| description | 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. |
| format | Article |
| id | doaj-art-00b9940d1af94e53822027c5fc7f5075 |
| institution | Kabale University |
| issn | 1076-2787 1099-0526 |
| language | English |
| publishDate | 2018-01-01 |
| publisher | Wiley |
| record_format | Article |
| series | Complexity |
| spelling | doaj-art-00b9940d1af94e53822027c5fc7f50752025-02-03T01:21:13ZengWileyComplexity1076-27871099-05262018-01-01201810.1155/2018/13608741360874Delay-Dependent Stability in Uncalibrated Image-Based Dynamic Visual Servoing Robotic SystemTao Li0Hui Zhao1Yu Chang2School of Electrical Engineering and Automation, Tianjin University, Tianjin 300072, ChinaSchool of Electrical Engineering and Automation, Tianjin University, Tianjin 300072, ChinaSchool of Design, Tianjin University of Commerce, Tianjin 300134, ChinaThis 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.http://dx.doi.org/10.1155/2018/1360874 |
| spellingShingle | Tao Li Hui Zhao Yu Chang Delay-Dependent Stability in Uncalibrated Image-Based Dynamic Visual Servoing Robotic System Complexity |
| title | Delay-Dependent Stability in Uncalibrated Image-Based Dynamic Visual Servoing Robotic System |
| title_full | Delay-Dependent Stability in Uncalibrated Image-Based Dynamic Visual Servoing Robotic System |
| title_fullStr | Delay-Dependent Stability in Uncalibrated Image-Based Dynamic Visual Servoing Robotic System |
| title_full_unstemmed | Delay-Dependent Stability in Uncalibrated Image-Based Dynamic Visual Servoing Robotic System |
| title_short | Delay-Dependent Stability in Uncalibrated Image-Based Dynamic Visual Servoing Robotic System |
| title_sort | delay dependent stability in uncalibrated image based dynamic visual servoing robotic system |
| url | http://dx.doi.org/10.1155/2018/1360874 |
| work_keys_str_mv | AT taoli delaydependentstabilityinuncalibratedimagebaseddynamicvisualservoingroboticsystem AT huizhao delaydependentstabilityinuncalibratedimagebaseddynamicvisualservoingroboticsystem AT yuchang delaydependentstabilityinuncalibratedimagebaseddynamicvisualservoingroboticsystem |