Title :
Lyapunov-Based Adaptive Visual Servo Tracking Control Using Central Catadioptric Camera
Author :
Hu, G. ; Dixon, W.E.
Author_Institution :
Florida Univ., Gainesville
Abstract :
In this paper, a Lyapunov-based visual servo tracking controller is developed for a 6 degree-of-freedom camera-in-hand central catadioptric camera system. By using the central catadioptric camera, a panoramic field of view can be obtained. A Lyapunov-based tracking controller is developed by using homography-based image geometry coupled with a quaternion rotation representation. Finally, an asymptotic tracking result is proven through Lyapunov-based analysis methods.
Keywords :
Lyapunov methods; cameras; position control; servomechanisms; visual servoing; 6 degree-of-freedom camera-in-hand central catadioptric camera system; Lyapunov-based adaptive visual servo tracking control; central catadioptric camera; homography-based image geometry; quaternion rotation representation; Adaptive control; Automatic control; Cameras; Centralized control; Control systems; Programmable control; Quaternions; Robot vision systems; Servomechanisms; Visual servoing;
Conference_Titel :
Control Applications, 2007. CCA 2007. IEEE International Conference on
Conference_Location :
Singapore
Print_ISBN :
978-1-4244-0442-1
Electronic_ISBN :
978-1-4244-0443-8
DOI :
10.1109/CCA.2007.4389446
