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Hybrid switched system visual servo ...

University of Illinois at Urbana-Champaign.

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Hybrid switched system visual servo control.

紀錄類型:	書目-語言資料,印刷品 : Monograph/item
正題名/作者:	Hybrid switched system visual servo control./
作者:	Gans, Nicholas R.
面頁冊數:	117 p.
附註:	Adviser: Seth Hutchinson.
Contained By:	Dissertation Abstracts International67-01B.
標題:	Engineering, System Science. -
電子資源:	http://pqdd.sinica.edu.tw/twdaoapp/servlet/advanced?query=3202095
ISBN:	9780542501845

Hybrid switched system visual servo control.
Gans, Nicholas R.

Hybrid switched system visual servo control. - 117 p.

Adviser: Seth Hutchinson.

Thesis (Ph.D.)--University of Illinois at Urbana-Champaign, 2005.

Visual servo control allows for the closed loop position control of a robot through the use of image data. The two general methods of visual servoing, Position-Based Visual Servoing and Image-Based Visual Servoing each have specific strengths and weaknesses. We have designed a hybrid switched-system controller which can switch between IBVS and PBVS controllers in such a way that performance and stability are improved. We present a proof of stability for this controller along with experimental examples.

ISBN: 9780542501845Subjects--Topical Terms:

1018128
Engineering, System Science.

Hybrid switched system visual servo control.
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520 $a Visual servo control allows for the closed loop position control of a robot through the use of image data. The two general methods of visual servoing, Position-Based Visual Servoing and Image-Based Visual Servoing each have specific strengths and weaknesses. We have designed a hybrid switched-system controller which can switch between IBVS and PBVS controllers in such a way that performance and stability are improved. We present a proof of stability for this controller along with experimental examples.
520 $a Furthermore, nonholonomic systems present a control task that is not suitable for a single, continuous feedback controller. Switched-system control of IBVS and PBVS systems offer the opportunity to use vision data in the closed loop control of a nonholonomic system. We present such a switched-system controller, an initial investigation into the feasibility and performance of this controller and propose further development goals.
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