Adaptive Homography-Based Visual Servo Tracking Control via a Quaternion Formulation
Adaptive Homography-Based Visual Servo Tracking Control via a Quaternion Formulation
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DOI：
10.1109/tcst.2008.2009227
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发表时间：
2010
影响因子：
4.8
通讯作者：
G. Hu;N. Gans;N. Fitz-Coy;W. Dixon
中科院分区：
文献类型：
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作者：
G. Hu;N. Gans;N. Fitz-Coy;W. Dixon
针对手持摄像机问题，设计了一种基于单应单应的自适应视觉伺服跟踪控制器，该控制器采用四元数表示旋转跟踪误差。跟踪问题中的期望轨迹由一系列图像(例如视频序列)编码，并使用Lyapunov方法来方便控制设计和稳定性分析。为了弥补未知深度信息的不足，设计了一种自适应估计法。实验结果验证了视觉伺服跟踪控制器的性能。
In this paper, an adaptive homography-based visual servo tracking controller is developed for the camera-in-hand problem using a quaternion formulation to represent rotation tracking error. The desired trajectory in the tracking problem is encoded by a sequence of images (e.g., a video sequence), and Lyapunov methods are employed to facilitate the control design and the stability analysis. An adaptive estimation law is designed to compensate for the lack of unknown depth information. Experimental results are provided to demonstrate the performance of the visual servo tracking controller.