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

作者：Hu Guoqiang^*; Gans Nicholas; Fitz Coy Norman; Dixon Warren

来源：IEEE Transactions on Control Systems Technology, 2010, 18(1): 128-135.

DOI：10.1109/TCST.2008.2009227

• Adaptive control
• Lyapunov methods
• quaternion representation
• tracking control
• visual servoing

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.

• 出版日期2010-1