Eye-in-Hand Tracking Control of a Free-Floating Space Manipulator
Eye-in-Hand Tracking Control of a Free-Floating Space Manipulator
复制标题
自由漂浮空间机械臂的手眼跟踪控制
DOI：
10.1109/taes.2017.2674218
复制
发表时间：
2017
影响因子：
4.4
通讯作者：
Leang Kam K.
中科院分区：
文献类型：
--
作者：
Wang Hesheng;Guo Dejun;Xu Hao;Chen Weidong;Liu Tao;Leang Kam K.
研究了在目标航天器运动未知和系统动力学不确定的情况下，利用手眼相机捕获自由漂浮空间机械臂的视觉跟踪（视觉伺服）控制问题.本文提出了一种与深度无关的观测器设计方法，用于估计航天器上目标点在惯性系中的未知位置。目标点用于估计视觉伺服控制的深度信息。利用自适应控制器使目标上的特征点收敛到像平面上的期望位置，并估计不确定的动态参数。李雅普诺夫方法被用来证明系统的渐近稳定性和图像误差的收敛性。最后，仿真结果验证了所提出的控制算法的性能。
This paper studies the visual-tracking (visual-servo) control problem for a free-floating space manipulator using an eye-in-hand camera for the capturing process, where the motion of the target spacecraft is unknown and the dynamics of the system are uncertain. A depth-independent matrix is developed to help design an observer for estimating the unknown positions of target points on the spacecraft in the inertial frame. The target points are used to estimate depth information for visual servo control. An adaptive controller is used to force the feature points on the target to converge onto the desired positions on the image plane as well as estimate the uncertain dynamic parameters. The Lyapunov approach is used to show asymptotic stability of the system and convergence of image errors. Finally, simulation results are presented to validate the performance of the proposed control algorithm.