Robust controller design for the cloud-based robotic visual servo system with time-delay uncertainty

摘要

The control performance of the cloud-based robotic visual servo system is always limited by the varying time delay for the data transmission and image processing. The varying image processing delay produced by the varying number of the extracted features for pose estimation and the data transmission delay are modeled as a stochastic process. The cloud-based robotic visual servo system is modeled as a discrete-time linear uncertain system, and the uncertain system matrix reflects the variation nature of the time varying delay. In the present paper, our primary work is presenting the robust control method to deal with the stabilization problem for the considered system. Then the sufficient asymptotic stabilization conditions and the feedback controller are derived. An experiment is conducted to validate the proposed approach.