Weak control Lyapunov functions-based stabilization controllers design of visual servo systems

The design method of visual servo stabilized controllers is presented for eye-in-hand robot visual servo system. With the information of camera intrinsic parameters, visual servo control laws (i.e. translation speed) are derived by using image errors and knowledge of the depth of object changes. This leads to the robots´ position control. Moreover, based on the properties of weak control Lyapunov functions, the results on global stabilization of the control law are obtained. This method proposed here does not require to estimating online the image Jacobin´s matrix and to calculate the homography. Finally, simulation results show the effectiveness of the method.