Adaptive Homography-Based Visual Servo Tracking Control via a Quaternion Formulation

In this paper, an adaptive homography-based visual servo tracking controller is developed for the camera-in-hand problem using a quaternion formulation to represent rotation tracking error. The desired trajectory in the tracking problem is encoded by a sequence of images (e.g., a video sequence), an...

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Bibliographic Details
Published in:IEEE transactions on control systems technology 2010-01, Vol.18 (1), p.128-135
Main Authors: Guoqiang Hu, Gans, N., Fitz-Coy, N., Dixon, W.
Format: Article
Language:English
Subjects:
Adaptative systems
Adaptive control
Applied sciences
Artificial intelligence
Computer science
control theory
systems
Control design
Control system analysis
Control system synthesis
Control theory. Systems
Error correction
Exact sciences and technology
Lyapunov method
Lyapunov methods
Pattern recognition. Digital image processing. Computational geometry
Programmable control
quaternion representation
Quaternions
Servomechanisms
Stability analysis
tracking control
Trajectory
Video sequences
visual servoing
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Summary:In this paper, an adaptive homography-based visual servo tracking controller is developed for the camera-in-hand problem using a quaternion formulation to represent rotation tracking error. The desired trajectory in the tracking problem is encoded by a sequence of images (e.g., a video sequence), and Lyapunov methods are employed to facilitate the control design and the stability analysis. An adaptive estimation law is designed to compensate for the lack of unknown depth information. Experimental results are provided to demonstrate the performance of the visual servo tracking controller.
ISSN:1063-6536
1558-0865
DOI:10.1109/TCST.2008.2009227