Potential switching control in visual servo

Koichi Hashimoto, Toshiro Noritsugu

Research output: Contribution to journalConference articlepeer-review

16 Citations (Scopus)

Abstract

Stability of feature-based visual servo controllers proposed so far is local. 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
Pages (from-to)2765-2770
Number of pages6
JournalProceedings - IEEE International Conference on Robotics and Automation
Volume3
Publication statusPublished - 2000 Dec 3
Externally publishedYes
EventICRA 2000: IEEE International Conference on Robotics and Automation - San Francisco, CA, USA
Duration: 2000 Apr 242000 Apr 28

ASJC Scopus subject areas

  • Software
  • Control and Systems Engineering
  • Artificial Intelligence
  • Electrical and Electronic Engineering

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