Passivity-Based Adaptive Control for Visually Servoed Robotic Systems

摘要

This paper investigates the visual servoing problem for robotic systems withuncertain kinematic, dynamic, and camera parameters. We first present thepassivity properties associated with the overall kinematics of the system, andthen propose two passivity-based adaptive control schemes to resolve the visualtracking problem. One scheme employs the adaptive inverse-Jacobian-likefeedback, and the other employs the adaptive transpose Jacobian feedback. Withthe Lyapunov analysis approach, it is shown that under either of the proposedcontrol schemes, the image-space tracking errors converge to zero withoutrelying on the assumption of the invertibility of the estimated depth.Numerical simulations are performed to show the tracking performance of theproposed adaptive controllers.