Nonlinear controllability and stability analysis of adaptive image-based systems.

In this paper, a novel adaptive visual feedback scheme is presented to solve the problem of controlling the relative pose between a robot camera and a rigid object of interest. By exploiting nonlinear controllability properties, uniform asymptotic stability in the large of the image reference set-po...

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Bibliographic Details

Published in:	IEEE Transactions on robotics and automation 17, 2 (2001).
Main Author:	Conticelli, F.
Format:	Article
Language:	English
Subjects:	6-DOF robot manipulator. Lyapunov direct method. Adaptive image-based systems. Adaptive nonlinear control scheme. Adaptive visual feedback scheme. Image reference set-point. Nonlinear controllability. Robot camera. Stability analysis. State vector uniform boundedness. Uniform asymptotic stability.