具有深度自适应估计的视觉伺服变结构控制

Variable Structure Control for Visual Servoing with Depth Adaptation Estimation

主要从控制的角度出发,考虑视觉伺服的具体问题,利用变结构控制理论设计了摄像机的平移和旋转速度控制器,用自适应估计的方法对深度进行估计,给出深度变化趋势,基于图像误差实现定位控制,能够确保系统全局渐近可稳定性。该方法不需要物体的几何模型及深度的精确值,仅需要物体初始及期望位置的深度估计值。仿真结果表明该方法是有效的。

Considering the specific problems of visual servoing, variable structure control theory was apelied to the design of the controller which consists of the camera translational and rotational velocities. In case of unknown object depth, an adaptive update law was used to estimate the depth of selected features of the object. Under the driving of the controller, the camera can reach any desired location from any initial position while the system is globally asymptotically stable. The method does not need knowledge of geometrical three-dimensional model of the object but only the approximate values of the target points depth at the initial and desired camera positions.