【摘要】 对于基于图像的具有手眼或固定摄像机模式的视觉伺服,考虑视觉控制系统不确定因素对图像特征所产生的影响,提出了基于L2性能准则(γ_耗散)的方法来处理视觉伺服系统的抗干扰问题及控制器设计问题,给出了系统全局稳定的充要条件,设计了视觉伺服控制器,基于图像误差实现了定位控制;利用初始及期望深度估计值提出了深度自适应估计律,给出了深度变化过程,使得摄像机能够在有干扰存在的条件下达到其期望位置。更多还原

【Abstract】 For the eye-in-hand visual servoing or fixed camera pattern based on image, considering the influences on the features of image brought by the uncertainties existing in vision and robot system, L2 performance rule (γ -passivity) was used to deal with the disturbance attenuation and design the controller of the visual servoing. The sufficient and necessary condition of global stability of the system was derived. It The design of the controller of the visual servoing was finished and the positioning control was realized based on the error of the image. An adaptive update law was given to estimate the depth of selected features with the approximate depth values of these features at the initial and desired positions. The process of the depth variety was proposed which could make camera reach the desired position under the disturbance condition.更多还原