Finite-time image-based visual servoing with field of view and performance constraints

IF 4.6 2区计算机科学 Q1 AUTOMATION & CONTROL SYSTEMS

Control Engineering Practice Pub Date : 2025-06-17 DOI:10.1016/j.conengprac.2025.106433

Jianfei Lin, Lei Ma, Deqing Huang, Dongrui Wang, Wenru Lu

引用次数: 0

Abstract

For image-based visual servoing (IBVS) of a robotic arm with field of view (FOV) and performance constraints, this paper proposes a finite-time IBVS control method with prescribed performance. Due to the limited FOV of the camera, the visibility constraint needs to be considered, and a time-varying performance function is introduced to ensure that the image features are always within the FOV during visual servoing. The performance function is used to constrain the image error and incorporates the asymmetric barrier Lyapunov function (BLF) to design the controller, ensuring the transient and steady-state performance of the IBVS system. The finite-time Lyapunov stability theorem ensures the rapid stabilization of the system. The effectiveness of the control method is verified through experimental studies.

查看原文本刊更多论文

具有视场和性能约束的有限时间图像视觉伺服

针对具有视场和性能约束的机械臂基于图像的视觉伺服问题，提出了一种具有规定性能的有限时间视觉伺服控制方法。由于摄像机视场有限，需要考虑能见度约束，引入时变性能函数，保证视觉伺服过程中图像特征始终在视场范围内。利用性能函数约束图像误差，并结合非对称势垒Lyapunov函数（BLF）设计控制器，保证了IBVS系统的瞬态和稳态性能。有限时间Lyapunov稳定性定理保证了系统的快速稳定。通过实验研究验证了该控制方法的有效性。

本文章由计算机程序翻译，如有差异，请以英文原文为准。

求助全文

约1分钟内获得全文求助全文

来源期刊

Control Engineering Practice 工程技术-工程：电子与电气

CiteScore

9.20

自引率

12.20%

发文量

183

审稿时长

44 days

期刊介绍： Control Engineering Practice strives to meet the needs of industrial practitioners and industrially related academics and researchers. It publishes papers which illustrate the direct application of control theory and its supporting tools in all possible areas of automation. As a result, the journal only contains papers which can be considered to have made significant contributions to the application of advanced control techniques. It is normally expected that practical results should be included, but where simulation only studies are available, it is necessary to demonstrate that the simulation model is representative of a genuine application. Strictly theoretical papers will find a more appropriate home in Control Engineering Practice''s sister publication, Automatica. It is also expected that papers are innovative with respect to the state of the art and are sufficiently detailed for a reader to be able to duplicate the main results of the paper (supplementary material, including datasets, tables, code and any relevant interactive material can be made available and downloaded from the website). The benefits of the presented methods must be made very clear and the new techniques must be compared and contrasted with results obtained using existing methods. Moreover, a thorough analysis of failures that may happen in the design process and implementation can also be part of the paper. The scope of Control Engineering Practice matches the activities of IFAC. Papers demonstrating the contribution of automation and control in improving the performance, quality, productivity, sustainability, resource and energy efficiency, and the manageability of systems and processes for the benefit of mankind and are relevant to industrial practitioners are most welcome.