Two-level visual control of dynamic look-and-move systems

摘要

This paper focuses on the problem of controlling dynamic look-and-move systems, taking into account the robot dynamics in the visual control loop. In the case of interconnection to a linear robot subsystem, the problem of local feedback stabilization is solved by using the backstepping approach. Local stability of the equilibrium of the whole system is ensured under the assumption that the linear subsystem is minimum phase of relative degree one. A case study is also reported to validate the developed control design: a PUMA robot including its local controller is approximated by a diagonal linear subsystem and experimental results are shown with the robotic system in eye-in-hand configuration.