基于新双目模型的变结构视觉伺服控制方法

A Method of Variable Structure Visual Servo Control Based on New Binocular Stereo Model

从控制的角度出发,将变结构控制理论应用到手眼机器人双目视觉伺服控制中,针对新双目视觉模型来设计视觉伺服控制器,基于图像误差实现了定位控制,而后用李亚普诺夫理论对其进行了稳定性分析,结果证明系统全局渐近稳定。仿真结果验证了该方法的有效性。

Considering the control problem of binocular visual servo, a variable structure controller was proposed in this pa- per. The controller is designed for the new binocular stereo model which didn＇ t need depth information. It avoids measuring and estimating the depth of object point, which can improve the control performance. Under the driving of the controller, the positioning task can be completed based on the image error. And then, the image-based visual system was proved to be global asymptotically stable by the Lyapunov theory. Finally, the results of simulation show the validity of the proposed method.