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1、1Passivity-BasedAdaptiveControlforVisuallyServoedRoboticSystemsHanleiWangAbstractThispaperinvestigatesthevisualservoingproblemforroboticsystemswithuncertainkinematic,dynamic,andcameraparameters.Wefirstpresentthepassivitypropertiesassociatedwiththeoverallkinem
2、aticsofthesystem,andthenproposetwopassivity-basedadaptivecontrolschemestoresolvethevisualtrackingproblem.Oneschemeemploystheadaptiveinverse-Jacobian-likefeedback,andtheotheremploystheadaptivetransposeJacobianfeedback.WiththeLyapunovanalysisapproach,itisshown
3、thatundereitheroftheproposedcontrolschemes,theimage-spacetrackingerrorsconvergetozerowithoutrelyingontheassumptionoftheinvertibilityoftheestimateddepth.Numericalsimulationsareperformedtoshowthetrackingperformanceoftheproposedadaptivecontrollers.IndexTermsVis
4、ualservoing,passivity,uncertaindepth,adaptivecontrol,roboticsystems.I.INTRODUCTIONTheinterestsinvisualservoingforrobotshavelastedformanyyears(see,e.g.,[1],[2],[3],arXiv:1506.08762v2[cs.SY]8May2016[4],[5],[6],[7],[8],[9],[10]).Thevisualservoingschemescanrough
5、lybeclassifiedintotwocategories(see,e.g.,[2]):position-basedschemeandimage-basedscheme.Thefamiliaradvantageoftheimage-basedservoingschememaybethatthepossibleerrorsincameramodelingandcalibrationareavoided,andthatthereductionoftheerrorintheimagespaceimpliesthat
6、oftheerrorinthephysicaltaskspace(orCartesianspace).However,thedirectuseofimagefeaturesinfeedbackcontrolcomplicatesthekinematicsoftheroboticsystem,andfurthermoreparametricuncertaintyoftenarises(see,e.g.,[7]).TheauthoriswiththeScienceandTechnologyonSpaceIntell
7、igentControlLaboratory,BeijingInstituteofControlEngineering,Beijing100190,China(e-mail:hlwang.bice@gmail.com).August1,2018DRAFT2Forhandlingthenonlinearityandparametricuncertaintyofthemodelsofthevisuallyservoedroboticsystems,manymodel-basedadaptivecontrolsche
8、mesareproposed,e.g.,[11],[12],[7],[13],[14],[15],[10],[16],[17],[18],[19],[20].Theworkin[21],[11],[12],[18],[20]studiesthevisualtrackingproblemundertheassumptionthatthedepthisconstant,inwhichcas
