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Xiangyang Liu1, Jianliang Mao2, Jun Yang3

  • 1School of Automation, Southeast University, Key Laboratory of Measurement and Control of Complex Systems of Engineering, Ministry of Education, Nanjing 210096, PR China.

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Summary

This study introduces a novel predictive control method using a disturbance observer (DOB) for image-based visual servoing. The approach effectively handles uncertainties in depth estimation and camera calibration for improved robotic control.

Keywords:
Disturbance observerImage-based visual servoingInertially stabilized platformModel predictive controlUncertain kinematics

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Area of Science:

  • Robotics
  • Control Systems Engineering
  • Computer Vision

Background:

  • Image-based visual servoing (IBVS) is crucial for robotic guidance.
  • Uncalibrated cameras and limited degrees of freedom in Inertially Stabilized Platforms (ISP) pose challenges for accurate depth estimation and control.
  • Existing methods struggle with real-time adaptation to kinematic uncertainties.

Purpose of the Study:

  • To develop a robust control strategy for IBVS of an ISP using a novel disturbance observer (DOB) based predictive control.
  • To address the challenge of estimating variable feature depth with uncalibrated cameras.
  • To improve the accuracy and stability of visual servoing systems despite kinematic uncertainties.

Main Methods:

  • A depth-independent kinematic matrix was derived using a partitioned scheme for system modeling.
  • A discrete-time disturbance observer (DOB) was designed to estimate lumped uncertainties in real-time.
  • The disturbance estimation was integrated into a predictive controller, bypassing traditional integral actions.

Main Results:

  • The proposed DOB-based predictive control approach demonstrated effective handling of kinematic uncertainties.
  • The system achieved stable closed-loop performance, validated through stability analysis.
  • Experimental results confirmed the approach's capability in tracking a moving target accurately.

Conclusions:

  • The developed DOB-based predictive control offers a robust solution for image-based visual servoing of ISPs.
  • The method successfully compensates for depth estimation and calibration uncertainties.
  • This approach enhances the precision and reliability of robotic visual guidance systems.