Potential problems in visual servo

Koichi Hashimoto, Kouhei Tanaka, Toshiro Noritsugu

Research output: Chapter in Book/Report/Conference proceedingConference contribution

Abstract

Stability of feature-based, visual servo controllers proposed so far is local.1 The initial features far from the reference may converge to features different from, the reference or even worse they may not converge. In this paper, stability of feature-based visual servo is considered by using potential. The stable region is visualized and artificial potential switching is proposed to extend the stable region.

Original languageEnglish
Title of host publicationIECON Proceedings (Industrial Electronics Conference)
PublisherIEEE Computer Society
Pages2189-2194
Number of pages6
DOIs
Publication statusPublished - 2000
Externally publishedYes

Publication series

NameIECON Proceedings (Industrial Electronics Conference)
Volume1

ASJC Scopus subject areas

  • Control and Systems Engineering
  • Electrical and Electronic Engineering

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