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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.

Record Type:	Language materials, printed : Monograph/item
Title/Author:	Hybrid switched system visual servo control./
Author:	Gans, Nicholas R.
Description:	117 p.
Notes:	Adviser: Seth Hutchinson.
Contained By:	Dissertation Abstracts International67-01B.
Subject:	Engineering, System Science. -
Online resource:	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.
LDR:01803nam 2200277 a 45 001 861180
005 20100719
008 100719s2005 ||||||||||||||||| ||eng d
020 $a 9780542501845
035 $a (UMI)AAI3202095
035 $a AAI3202095
040 $a UMI $c UMI
100 1 $a Gans, Nicholas R. $3 1028846
245 1 0 $a Hybrid switched system visual servo control.
300 $a 117 p.
500 $a Adviser: Seth Hutchinson.
500 $a Source: Dissertation Abstracts International, Volume: 67-01, Section: B, page: 0516.
502 $a Thesis (Ph.D.)--University of Illinois at Urbana-Champaign, 2005.
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.
590 $a School code: 0090.
650 4 $a Engineering, System Science. $3 1018128
690 $a 0790
710 2 $a University of Illinois at Urbana-Champaign. $3 626646
773 0 $t Dissertation Abstracts International $g 67-01B.
790 $a 0090
790 1 0 $a Hutchinson, Seth, $e advisor
791 $a Ph.D.
792 $a 2005
856 4 0 $u http://pqdd.sinica.edu.tw/twdaoapp/servlet/advanced?query=3202095