Article
Automation & Control Systems
Kunwu Zhang, Yang Shi, Huaiyuan Sheng
Summary: In this paper, a robust nonlinear model predictive control (NMPC) scheme is proposed for the visual servoing of quadrotors subject to external disturbances. By using the virtual camera approach, the image moments are defined in the virtual camera plane and adopted as visual features to derive the decoupled image kinematics. The proposed NMPC scheme ensures that the visual target remains within the field of view of the camera and handles visibility constraints and external disturbances effectively.
IEEE-ASME TRANSACTIONS ON MECHATRONICS
(2021)
Article
Automation & Control Systems
Shaoying He, Yunwen Xu, Yaonan Guan, Dewei Li, Yugeng Xi
Summary: This article presents a synthetic robust model predictive control method (RMPC) with input mapping for the image-based visual servoing (IBVS) problem with constraints. The proposed method overcomes the conservatism of RMPC and reduces the online computational burden by combining the robust control law and online linear compensation. The input mapping method is suitable for IBVS without requiring time-varying or time-invariant models.
IEEE TRANSACTIONS ON INDUSTRIAL ELECTRONICS
(2023)
Article
Robotics
Kerry He, Rhys Newbury, Tin Tran, Jesse Haviland, Ben Burgess-Limerick, Dana Kulic, Peter Corke, Akansel Cosgun
Summary: The study introduces an optimization-based reactive controller to minimize occlusions caused by a robot's own body in eye-to-hand camera setups, while achieving a desired goal pose and allowing coordinated control between the robot's base, arm, and head. Demonstrated in simulated and real-world experiments, the approach shows a trade-off between occlusion rates and task metrics, and the proposed controller improves visibility to the target object(s) without sacrificing task success and efficiency too much.
IEEE ROBOTICS AND AUTOMATION LETTERS
(2022)
Article
Automation & Control Systems
An Hu, Mengxin Xu, Hesheng Wang, Xinwu Liang, Herman Castaneda
Summary: This article proposes an image-based impedance control scheme for an under-actuated aerial manipulator. It introduces a dynamic-level image-space visual servoing controller to achieve compliant interaction with unknown environments without requiring feedback of external wrench and Cartesian position. The article also presents a decoupled attitude tracking control task to address the under-actuation property of the system. Experimental results validate the effectiveness of the proposed method.
IEEE TRANSACTIONS ON INDUSTRIAL ELECTRONICS
(2023)
Article
Automation & Control Systems
Ning Tan, Peng Yu, Wenka Zheng
Summary: This article proposes an image-based visual servoing control scheme using recurrent neural networks for robot manipulators. The scheme does not require prior knowledge and is proven to be effective, stable, and robust through theoretical analysis and simulations. Its applicability and advantages are also demonstrated on different robot-camera systems.
IEEE TRANSACTIONS ON CYBERNETICS
(2022)
Article
Automation & Control Systems
Yanjie Chen, Yangning Wu, Zhenguo Zhang, Zhiqiang Miao, Hang Zhong, Hui Zhang, Yaonan Wang
Summary: This article proposes an image-based visual servoing (IBVS) control strategy for an unmanned aerial manipulator (UAM) system to track and grasp a moving target. A robust-adaptive velocity observer is designed to estimate the relative velocity between the tracked target and the UAM platform, and an IBVS controller using the onboard camera is proposed for moving target tracking. The stability of the proposed IBVS control strategy is analyzed using Lyapunov theory, and comparative simulations are provided to demonstrate the target tracking performance.
IEEE TRANSACTIONS ON INDUSTRIAL INFORMATICS
(2023)
Article
Automation & Control Systems
Yihang Li, Guozheng Lu, Dongjiao He, Fu Zhang
Summary: This article proposes a robocentric formulation for quadrotor visual servoing. Compared with other visual servoing methods, our method allows tightly and integrated state estimation and control on the same robocentric model, and allows a faster system response in aggressive quadrotor flights.
IEEE-ASME TRANSACTIONS ON MECHATRONICS
(2023)
Article
Automation & Control Systems
Xinwu Liang, Hesheng Wang, Yun-Hui Liu, Bing You, Zhe Liu, Zhongliang Jing, Weidong Chen
Summary: This work presents a new fully uncalibrated visual servoing approach for position control of robotic manipulators, which does not require calibration of camera parameters or numerical optimization algorithms, and ensures exponential convergence of image position errors. The approach simplifies controller implementation and improves system design flexibility.
IEEE TRANSACTIONS ON CYBERNETICS
(2022)
Article
Engineering, Electrical & Electronic
Tiantian Hao, De Xu, Fangbo Qin
Summary: An innovative binocular eye-to-hand (ETH) vision system is designed, which demonstrates improved sensitivity for motion along the optical axis through the analysis of the interaction matrix of point feature. An IBVS control method with the proposed ETH vision system is developed and experimentally verified. The results show position alignment errors of less than 0.5 mm, indicating great potential for industrial applications.
IEEE TRANSACTIONS ON INSTRUMENTATION AND MEASUREMENT
(2023)
Article
Automation & Control Systems
J. M. Manzano, D. Munoz de la Pena, J. Calliess, D. Limon
Summary: The study introduces a data-based predictive controller that offers both robust stability guarantees and online learning capabilities by employing a double-prediction approach. The combination of safe prediction and online learning prediction ensures the safety of the controlled system and allows for incremental learning over time. Sufficient conditions for robust stability and constraint satisfaction are provided, with illustrations given in a simulated case study.
INTERNATIONAL JOURNAL OF ROBUST AND NONLINEAR CONTROL
(2021)
Article
Engineering, Mechanical
Jie Liu, Jian Gao, Weisheng Yan, Yimin Chen, Bo Yang
Summary: This paper introduces an image-based visual servoing (IBVS) target-tracking strategy for an underwater vehicle to track a moving target using a downward-facing camera. The relative position, orientation, and velocity of the target were estimated using a nonlinear unscented Kalman filter (UKF). Based on these estimated values, image Jacobian matrices were constructed and a nonlinear model predictive controller (MPC) was employed to generate velocity commands for the underwater vehicle. An adaptive neural network controller was used to track the velocity commands considering system uncertainties. Simulation tests were conducted to verify the efficiency of the designed strategy.
INTERNATIONAL JOURNAL OF VEHICLE DESIGN
(2023)
Article
Automation & Control Systems
Jie Lin, Yaonan Wang, Zhiqiang Miao, Shuangwen Fan, Hesheng Wang
Summary: This article proposes an image-based geometric tracking control strategy for a quadrotor to track an unknown moving target under external disturbances using continuous observer design. By designing a higher order sliding mode observer and an outer loop IBVS controller, position convergence and attitude regulation are achieved, and the proposed approach achieves asymptotic stability as proven by theoretical analysis.
IEEE-ASME TRANSACTIONS ON MECHATRONICS
(2023)
Article
Automation & Control Systems
Armando Miranda-Moya, Herman Castaneda, J. L. Gordillo, Hesheng Wang
Summary: This paper presents a design of visual control for a quadrotor executing a target tracking task in the presence of disturbances. The design utilizes an adaptive sliding mode controller, image projection, and image-based visual servoing technique to control the position and yaw of the rotorcraft. The adaptive sliding mode strategy enhances robustness against external disturbances, and an analysis based on Lyapunov theory ensures stability of the closed-loop system. Experimental tests demonstrate the superiority and performance of the proposed design.
Article
Mathematical & Computational Biology
Xingjia Li, Jinan Gu, Zedong Huang, Wenbo Wang, Jing Li
Summary: The paper proposes a design method for an LPV-MPC controller and determines the optimal parameters using the TSO algorithm. Experimental results show that the method performs well in optimizing the controller performance of robot manipulators.
MATHEMATICAL BIOSCIENCES AND ENGINEERING
(2022)
Article
Automation & Control Systems
Zhehao Jin, Jinhui Wu, Andong Liu, Wen-An Zhang, Li Yu
Summary: The article explores the image-based visual servoing problem for mobile robots with visibility constraints using a policy-based deep reinforcement learning approach, presenting a method to solve feature-loss problem and improve servo efficiency.
IEEE TRANSACTIONS ON INDUSTRIAL ELECTRONICS
(2022)
