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

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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Bibliografische gegevens
Gepubliceerd in:IEEE Transactions on robotics and automation 17, 2 (2001).
Hoofdauteur: Conticelli, F.
Formaat: Artikel
Taal:English
Onderwerpen:
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.