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IEEE Annual Conference on Decision and control

作者： Daniel A. Dirksz Jacquelien M. A. Scherpen Faculty of Mechanical Engineering Control Systems Technology Eindhoven University of Technology Faculty of Mathematics and Natural Sciences University of Groningen

ISBN: (纸本)9781467320658

In this paper we take a port-Hamiltonian approach to address the problem of image-based visual servo control of a pick and place system. We realize a closed-loop system, including the nonlinear camera dynamics, which is port-Hamiltonian. Although the closed-loop system is nonlinear, the resulting controller is a PD-type controller which only requires the camera states. From the passivity property of port-Hamiltonian systems we then derive conditions for exponential stability of the closed-loop system, which are used to tune the PD controller gains.

关键词： visual servo control PICK Closed loop systems servo control Cameras Induction loop systems controllers exponential stability.

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Landing on a Moving Target using Image-Based visual servo control

Landing on a Moving Target using Image-Based Visual Servo Co...

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IEEE Annual Conference on Decision and control

作者： Pedro Serra Rita Cunha Tarek Hamel David Cabecinhas Carlos Silvestre Institute for Systems and Robotics - Instituto Superior Tecnico Av. Rovisco Pais 1 1049-001 Lisboa Portugal I3S UNSA-CNRS Nice-Sophia Antipolis France

ISBN: (纸本)9781467360890

This paper addresses the problem of landing a Vertical Take-Off and Landing (VTOL) quadrotor using image-based visual servo control. Observable features on a flat target plane are exploited to derive a suitable control law. The kinematics of a VTOL quadrotor system are expressed in terms of an unnormalized spherical centroid of features and optical flow is used as velocity measurement for control. The dynamics with respect to the force input are dependent on the distance between the camera and the target plane, which is not measurable by a simple vision system. The proposed control law guarantees convergence without estimating any parameter related to the unknown distance, which is also guaranteed to remain strictly positive. Simulation and experimental results are provided to illustrate and assess the performance of the proposed controller.

关键词： Vertical take off cage set visual servo control control law servo control Velocimetry Speed measurement Optic Flow

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Research on A High-accuracy Micro-assembly by Image-based on visual servo control System

Research on A High-accuracy Micro-assembly by Image-based on...

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ICEMI'2005第七届国际电子测量与仪器学术会议

作者： Duan Ruiling Li Qingxiang Li Yuhe Yang Zaihua (Department of Precision Instrument and Mechanology, Tsinghua University, Beijing 100084 China)

Micro-assembly technology having the complicated system has developed rapidly in recent years, with the increased development of micro-electro-mechanical systems (MEMS). In such conditions, large numb

关键词： Micro-assembly visual servo control image processing, auto-focus.

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visual Attention servo control for Task-specific Robotic Applications

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INTERNATIONAL JOURNAL OF control AUTOMATION AND SYSTEMS 2013年第6期11卷 1241-1252页

作者： Liu, Dong Cong, Ming Du, Yu Zhang, Yunfei de Silva, Clarence W. Dalian Univ Technol Sch Mech Engn Dalian 116024 Peoples R China Univ British Columbia Dept Mech Engn Vancouver BC V6T 1Z4 Canada

This paper proposes a visual attention servo control (VASC) method which uses the Gaussian mixture model (GMM) for task-specific applications of mobile robots. In particular, low dimensional bias feature template is obtained using GMM to get an efficient attention process. An image-based visual servo (IBVS) controller is used to search for a desired object in a scene through an attention system which forms a task-specific state representation of the environment. First, task definition and object representation in semantic memory (SM) are proposed, and bias feature template is obtained using GMM deduction for features from high dimension to low dimension. Second, the features intensity, color, size and orientation are extracted to build the feature set. Mean shift method is used to segment the visual scene into discrete proto-objects. Given a task-specific object, top-down bias attention is evaluated to generate the saliency map by combining with the bottom-up saliency-based attention. Third, a visual attention servo controller is developed to integrate the IBVS controller and the attention system for robotic cognitive control. A rule-based arbitrator is proposed to switch between the episodic memory (EM)-based controller and the IBVS controller depending on whether the robot obtains the desired attention point on the image. Finally, the proposed method is evaluated on task-specific object detection under different conditions and visual attention servo tasks. The obtained results validate the applicability and usefulness of the developed method for robotics.

关键词： Attention selection GMM mobile robots task-specific attention visual servo control

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Homography Based visual servo control with Scene Reconstruction

Homography Based Visual Servo Control with Scene Reconstruct...

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IEEE Annual Conference on Decision and control

作者： Anup Parikh Rushikesh Kamalapurkar Hsi-Yuan Chen Warren E. Dixon Department of Mechanical and Aerospace Engineering University of Florida Gainesville FL 32611-6250 USA

ISBN: (纸本)9781479978878

Homography based visual servoing is an approach that blends image based feedback with feedback that is reconstructed from the image to control an autonomous system to move along a desired trajectory. Adaptive control methods have been previously developed by compensating for an unknown parameter (i.e., the depth of a feature) in the dynamics, where persistence of excitation assumptions are used for parameter identification. Rather than assume persistent excitation, an augmented adaptive update law that uses recorded data is utilized in this paper to guarantee exponential tracking and parameter identification with only finite excitation. By identifying the depth parameter, the structure of the scene can be reconstructed, enabling simultaneous mapping and control.

关键词： homography Parameter identification visual servo control servo control Feedback Unknown parameter Autonomous Systems visual servoing Excitation based adaptive update

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Position-Based visual servo control of Leader-Follower Formation Using Image-Based Relative Pose and Relative Velocity Estimation

Position-Based Visual Servo Control of Leader-Follower Forma...

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2009 American control Conference (ACC 2009)

作者： A. P. Dani N. Gans W. E. Dixon Department of Mechanical and Aerospace Engineering University of Florida Gainesville FL 32611-6250 USA National Research Council and Air Force Research Laboratory Egline AFB FL

ISBN: (纸本)9781424445233

A position-based visual servo control strategy is proposed for leader-follower formation control of unmanned ground vehicles (UGVs). The proposed control law only requires the knowledge of a single known length on the leader. The relative pose and the relative velocity of the leader are estimated with respect to the follower in the follower reference frame. The relative pose and the relative velocity are obtained using a geometric pose estimation technique and a nonlinear velocity estimation strategy, respectively. A Lyapunov analysis indicates global asymptotic tracking of the leader vehicle, and simulation results are provided to illustrate the performance of the developed controller.

关键词： relative velocity Speed Estimation visual servo control servo control Family Members control law

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Homography-based visual servo tracking control of a wheeled mobile robot

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IEEE TRANSACTIONS ON ROBOTICS 2006年第2期22卷 406-415页

作者： Chen, J Dixon, WE Dawson, DM McIntyre, M Clarkson Univ Dept Mech & Aeronaut Engn Potsdam NY 13699 USA Univ Florida Dept Mech & Aerosp Engn Gainesville FL 32611 USA Clemson Univ Dept Elect & Comp Engn Clemson SC 29634 USA

A visual servo tracking controller is developed in this paper for a monocular camera system mounted on an underactuated wheeled mobile robot (WMR) subject to nonholonomic motion constraints (i.e., the camera-in-hand problem). A prerecorded image sequence (e.g., a video) of three target points is used to define a desired trajectory for the WMR. By comparing the target points from a stationary reference image with the corresponding target points in the live image and the prerecorded sequence of images, projective geometric relationships are exploited to construct Euclidean homographies. The information obtained by decomposing the Euclidean homography is used to develop a kinematic controller. A Lyapunov-based analysis is used to develop an adaptive update law to actively compensate for the lack of depth information required for the translation error system. Experimental results are provided to demonstrate the control design.

关键词： Lyapunov methods mobile robot nonholonomic visual servo control

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Homography-Based visual servo Tracking control of Wheeled Mobile Robots with Simultaneous Depth Identification 24th

Homography-Based Visual Servo Tracking Control of Wheeled Mo...

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24th International Conference on Neural Information Processing (ICONIP)

作者： Qiu, Yu Li, Baoquan Shi, Wuxi Chen, Yimei Tianjin Polytech Univ Sch Elect Engn & Automat Tianjin Key Lab Adv Technol Elect Engn & Energy Tianjin 300387 Peoples R China

ISBN: (纸本)9783319701363;9783319701356

In this paper, a visual servo tracking control method is developed for the wheeled mobile robot subject to nonholonomic motion constraints, while the unknown feature depth information is simultaneously identified in the visual servoing process. Firstly, a video feature points are prerecorded as the desire trajectory for the mobile robot. Secondly, Euclidean homographies are constructed by utilizing projective geometric relationships of feature points. Subsequently, trajectory tracking errors are obtained after Euclidean homographies decomposition. Then, the kinematic controller is designed for the mobile robot to achieve the visual servo trajectory tracking task. Moreover, by utilizing the concurrent learning framework, the historical and current system data is used to construct an adaptive updating mechanism for recovering the unknown feature depth. Simulation results are collected to prove the efficiency and utility of the proposed strategy.

关键词： Wheeled mobile robot visual servo control Adaptive control Depth identification

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visual servo optimization stabilization of nonholonomic mobile robots based on control Lyapunov functions

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MEASUREMENT & control 2020年第9-10期53卷 1825-1831页

作者： Lin, Yegui Xing, Kexin Zhejiang Univ Technol Coll Informat Engn Liuhe Rd 288 Hangzhou 310023 Peoples R China

This study considers the visual stabilization problem of nonholonomic mobile robots and proposes a novel optimization stabilization method for visual servo control of nonholonomic mobile robots with monocular cameras fixed onboard. The main idea of the method is to utilize control Lyapunov functions of discrete-time nonlinear systems to design a family of explicit stabilization control laws of the visual servo error system. The parameters of the control laws can indirectly reflect the performance of the visual servo controllers. Then taking account of visibility constraints and actuator limitations, a set of optimal parameters of the control laws is calculated by offline solving a constrained finite horizon optimal control problem. Moreover, the stabilization results on the optimal visual servo controller are established based on the properties of control Lyapunov functions. Finally, some simulation experiments are used to illustrate and evaluate the performance of the visual servo control scheme proposed here.

关键词： Nonholonomic mobile robots visual servo control control Lyapunov functions nonlinear constrained optimal control

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An Accelerated Anti-Noise Adaptive Neural Network for Robotic Flexible Endoscope With Multitype Surgical Objectives and Constraints

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IEEE TRANSACTIONS ON SYSTEMS MAN CYBERNETICS-SYSTEMS 2025年第2期55卷 990-1003页

作者： Huang, Yisen Li, Jian Li, Weibing Zhang, Xue Sun, Yichong Xie, Ke Hu, Yingbai Chiu, Philip Wai Yan Li, Zheng Chinese Univ Hong Kong Dept Surg Hong Kong Peoples R China Sun Yat Sen Univ Sch Comp Sci & Engn Guangzhou 510006 Peoples R China Shenzhen Technol Univ Coll Hlth Sci & Environm Engn Shenzhen 518118 Peoples R China Chinese Univ Hong Kong Chow Yuk Ho Technol Ctr Innovat Med Dept Surg Hong Kong Peoples R China Chinese Univ Hong Kong Multiscale Med Robot Ltd Hong Kong Peoples R China Chinese Univ Hong Kong Li Ka Shing Inst Hlth Sci Chow Yuk Ho Technol Ctr Innovat Med Dept Surg Hong Kong Peoples R China

In minimally invasive surgery (MIS), the field of view (FOV) control is crucial. Autonomous endoscope robots have been developed to facilitate MIS procedures by enabling autonomous surgical target tracking, thus reducing the workload on surgeons. However, existing visual servoing-based target tracking methods for autonomous endoscopes often overlook the insecurity stemming from restricted workspace conditions. Instances, such as collisions between the endoscope robot's tip and the patient's chest or abdominal wall pose risks to patient tissue, while extensive motion of the endoscope shaft may damage incision port tissue. Addressing these security concerns, this article proposes a novel approach called virtual fixture-based restricted workspace constraint (RWSC) to reconstruct the endoscope robot's movement range. A quadratic programming (QP) optimization framework is employed to govern the robot's motion, ensuring autonomous target tracking while adhering to RWSCs. To solve the QP problem, we propose an adaptive zeroing neural network (ZNN) featuring a newly designed activation function (AF). This AF enhances the ZNN with predefined-time convergence and noise rejection capabilities, making it especially suitable for time-sensitive and noise-prone surgical applications. Theoretical analysis and experimental results demonstrate that our adaptive ZNN achieves shorter convergence times than existing neural dynamic-based QP solvers. Physical validations show the efficacy of the proposed RWSCs in limiting the workspace of the endoscope robot, while the FOV control strategy enables autonomous target tracking of flexible endoscopes under diverse constraints and objectives.

关键词： Robots Endoscopes Robot kinematics Kinematics Convergence visualization visual servoing Target tracking Safety Noise Flexible endoscope noise rejection predefined-time convergence visual servo control zeroing neural network (ZNN)

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