ON sensor switching visual servoing

Kolja Kühnlenz, Martin Buss

Research output: Contribution to journalArticlepeer-review

1 Scopus citations

Abstract

This article investigates dynamic camera switching during visual servoing tasks using multi-camera systems considering image-based and position-based Jacobian transpose control schemes. Stability is discussed using a common Lyapunov function assuming ideal target and camera models and multiple Lyapunov functions under parameter perturbations. It is shown that asymptotic stability cannot be achieved for arbitrary switching under parameter perturbations. Therefore, an energy supervised switching scheme is introduced guaranteeing asymptotic stability. The contributions are stable visual servoing strategies which facilitate instantaneous adjustments of control performance and dynamical device switches in case of task requirements or sensor breakdown.

Original languageEnglish
Pages (from-to)233-256
Number of pages24
JournalInternational Journal of Optomechatronics
Volume2
Issue number3
DOIs
StatePublished - 2008

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