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• W798795505 abstract "This paper investigates the visual servoing problem for robotic systems with uncertain kinematic, dynamic, and camera parameters. We first present the passivity properties associated with the overall kinematics of the system, and then propose two passivity-based adaptive control schemes to resolve the visual tracking problem. One scheme employs the adaptive inverse-Jacobian-like feedback, and the other employs the adaptive transpose Jacobian feedback. With the Lyapunov analysis approach, it is shown that under either of the proposed control schemes, the image-space tracking errors converge to zero without relying on the assumption of the invertibility of the estimated depth. Numerical simulations are performed to show the tracking performance of the proposed adaptive controllers." @default.
• W798795505 created "2016-06-24" @default.
• W798795505 creator A5007643306 @default.
• W798795505 date "2014-11-01" @default.
• W798795505 modified "2023-09-26" @default.
• W798795505 title "Passivity-based adaptive control for visually servoed robotic systems" @default.
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• W798795505 doi "https://doi.org/10.1109/aucc.2014.7358696" @default.
• W798795505 hasPublicationYear "2014" @default.
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