Automatica (Journal of IFAC)
Robot Dynamics and Control
Adaptive Neural Network Control of Robotic Manipulators
Adaptive Neural Network Control of Robotic Manipulators
Design and application of industrial machine vision systems
Robotics and Computer-Integrated Manufacturing
Brief paper: Image based visual servo control for a class of aerial robotic systems
Automatica (Journal of IFAC)
Robust adaptive sliding-mode control for fuzzy systems with mismatched uncertainties
IEEE Transactions on Fuzzy Systems
Robust Jacobian matrix estimation for image-based visual servoing
Robotics and Computer-Integrated Manufacturing
Brief paper: Vision-based control for rigid body stabilization
Automatica (Journal of IFAC)
Vision-Based Adaptive Tracking Control of Uncertain Robot Manipulators
IEEE Transactions on Robotics
Dynamic Visual Tracking for Manipulators Using an Uncalibrated Fixed Camera
IEEE Transactions on Robotics
Adaptive Output-Feedback Fuzzy Tracking Control for a Class of Nonlinear Systems
IEEE Transactions on Fuzzy Systems
Distance-Based and Orientation-Based Visual Servoing From Three Points
IEEE Transactions on Robotics
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The robust trajectory tracking problem for an eye-in-hand system is addressed in this paper. A novel visual feedback control model is proposed. It considers not only the uncertainties and disturbances in the robot model, but also the unknown camera parameters. By using sliding mode control, filter method and adaptive technique, the controller is designed such that the robot can track the desired trajectory well by using information provided by camera. Finally, stability and robustness are rigorously proved by using Lyapunov method. Computer simulations are presented to show the effectiveness of the proposed visual feedback controller.