Robust Image-Based Visual Servo Control of an Uncertain Missile Airframe

A nonlinear vision-based guidance law is presented for a missile-target scenario in the presence of model uncertainty and unknown target evasive maneuvers. To ease the readability of this thesis, detailed explanations of any relevant mathematical tools are provided, including stability definitions, the procedure of Lyapunov-based stability analysis, sliding mode control fundamentals, basics on visual servo control, and other basic nonlinear control tools. To develop the vision-based guidance law, projective geometric relationships are utilized to combine the image kinematics with the missile dynamics in an integrated visual dynamic system. The guidance law is designed using an image-based visual servo control method in conjunction with a sliding-mode control strategy, which is shown to achieve asymptotic target interception in the presence of the aforementioned uncertainties. A Lyapunov-based stability analysis is presented to prove the theoretical result, and numerical simulation results are provided to demonstrate the performance of the proposed robust controller for both stationary and non-stationary targets

Practical Stabilization of Uncertain Nonholonomic Mobile Robots Based on Visual Servoing Model with Uncalibrated Camera Parameters

The practical stabilization problem is addressed for a class of uncertain nonholonomic mobile robots with uncalibrated visual parameters. Based on the visual servoing kinematic model, a new switching controller is presented in the presence of parametric uncertainties associated with the camera system. In comparison with existing methods, the new design method is directly used to control the original system without any state or input transformation, which is effective to avoid singularity. Under the proposed control law, it is rigorously proved that all the states of closed-loop system can be stabilized to a prescribed arbitrarily small neighborhood of the zero equilibrium point. Furthermore, this switching control technique can be applied to solve the practical stabilization problem of a kind of mobile robots with uncertain parameters (and angle measurement disturbance) which appeared in some literatures such as Morin et al. (1998), Hespanha et al. (1999), Jiang (2000), and Hong et al. (2005). Finally, the simulation results show the effectiveness of the proposed controller design approach

Sliding mode control for robust and smooth reference tracking in robot visual servoing

[EN] An approach based on sliding mode is proposed in this work for reference tracking in robot visual servoing. In particular, 2 sliding mode controls are obtained depending on whether joint accelerations or joint jerks are considered as the discontinuous control action. Both sliding mode controls are extensively compared in a 3D-simulated environment with their equivalent well-known continuous controls, which can be found in the literature, to highlight their similarities and differences. The main advantages of the proposed method are smoothness, robustness, and low computational cost. The applicability and robustness of the proposed approach are substantiated by experimental results using a conventional 6R industrial manipulator (KUKA KR 6 R900 sixx [AGILUS]) for positioning and tracking tasks.Spanish Government, Grant/Award Number: BES-2010-038486; Generalitat Valenciana, Grant/Award Number: BEST/2017/029 and APOSTD/2016/044Muñoz-Benavent, P.; Gracia, L.; Solanes, JE.; Esparza, A.; Tornero, J. (2018). Sliding mode control for robust and smooth reference tracking in robot visual servoing. International Journal of Robust and Nonlinear Control. 28(5):1728-1756. https://doi.org/10.1002/rnc.3981S17281756285Hutchinson, S., Hager, G. D., & Corke, P. I. (1996). A tutorial on visual servo control. IEEE Transactions on Robotics and Automation, 12(5), 651-670. doi:10.1109/70.538972Chaumette, F., & Hutchinson, S. (2008). Visual Servoing and Visual Tracking. Springer Handbook of Robotics, 563-583. doi:10.1007/978-3-540-30301-5_25Corke, P. (2011). Robotics, Vision and Control. 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On improving robot image-based visual servoing based on dual-rate reference filtering control strategy. Robotica, 34(12), 2842-2859. doi:10.1017/s0263574715000454Elena M Cristiano M Damiano F Bonfe M Variable structure PID controller for cooperative eye-in-hand/eye-to-hand visual servoing 2003 Istanbul, Turkey https://doi.org/10.1109/CCA.2003.1223145Hashimoto, K., Ebine, T., & Kimura, H. (1996). Visual servoing with hand-eye manipulator-optimal control approach. IEEE Transactions on Robotics and Automation, 12(5), 766-774. doi:10.1109/70.538981Chan A Leonard S Croft EA Little JJ Collision-free visual servoing of an eye-in-hand manipulator via constraint-aware planning and control 2011 San Francisco, CA, USA https://doi.org/10.1109/ACC.2011.5991008Allibert, G., Courtial, E., & Chaumette, F. (2010). Visual Servoing via Nonlinear Predictive Control. Lecture Notes in Control and Information Sciences, 375-393. doi:10.1007/978-1-84996-089-2_20Kragic, D., & Christensen, H. I. (2003). Robust Visual Servoing. The International Journal of Robotics Research, 22(10-11), 923-939. doi:10.1177/027836490302210009Mezouar Y Chaumette F Path planning in image space for robust visual servoing 2000 San Francisco, CA, USA https://doi.org/10.1109/ROBOT.2000.846445Morel, G., Zanne, P., & Plestan, F. (2005). Robust visual servoing: bounding the task function tracking errors. IEEE Transactions on Control Systems Technology, 13(6), 998-1009. doi:10.1109/tcst.2005.857409Hammouda, L., Kaaniche, K., Mekki, H., & Chtourou, M. (2015). Robust visual servoing using global features based on random process. International Journal of Computational Vision and Robotics, 5(2), 138. doi:10.1504/ijcvr.2015.068803Yang YX Liu D Liu H Robot-self-learning visual servoing algorithm using neural networks 2002 Beijing, China https://doi.org/10.1109/ICMLC.2002.1174473Sadeghzadeh, M., Calvert, D., & Abdullah, H. A. (2014). Self-Learning Visual Servoing of Robot Manipulator Using Explanation-Based Fuzzy Neural Networks and Q-Learning. Journal of Intelligent & Robotic Systems, 78(1), 83-104. doi:10.1007/s10846-014-0151-5Lee AX Levine S Abbeel P Learning Visual Servoing With Deep Features and Fitted Q-Iteration 2017Fakhry, H. H., & Wilson, W. J. (1996). A modified resolved acceleration controller for position-based visual servoing. Mathematical and Computer Modelling, 24(5-6), 1-9. doi:10.1016/0895-7177(96)00112-4Keshmiri, M., Wen-Fang Xie, & Mohebbi, A. (2014). Augmented Image-Based Visual Servoing of a Manipulator Using Acceleration Command. IEEE Transactions on Industrial Electronics, 61(10), 5444-5452. doi:10.1109/tie.2014.2300048Edwards, C., & Spurgeon, S. (1998). Sliding Mode Control. doi:10.1201/9781498701822Zanne P Morel G Piestan F Robust vision based 3D trajectory tracking using sliding mode control 2000 San Francisco, CA, USAOliveira TR Peixoto AJ Leite AC Hsu L Sliding mode control of uncertain multivariable nonlinear systems applied to uncalibrated robotics visual servoing 2009 St. Louis, MO, USAOliveira, T. R., Leite, A. C., Peixoto, A. J., & Hsu, L. (2014). Overcoming Limitations of Uncalibrated Robotics Visual Servoing by means of Sliding Mode Control and Switching Monitoring Scheme. Asian Journal of Control, 16(3), 752-764. doi:10.1002/asjc.899Li, F., & Xie, H.-L. (2010). Sliding mode variable structure control for visual servoing system. International Journal of Automation and Computing, 7(3), 317-323. doi:10.1007/s11633-010-0509-5Kim J Kim D Choi S Won S Image-based visual servoing using sliding mode control 2006 Busan, South KoreaBurger W Dean-Leon E Cheng G Robust second order sliding mode control for 6D position based visual servoing with a redundant mobile manipulator 2015 Seoul, South KoreaBecerra, H. M., López-Nicolás, G., & Sagüés, C. (2011). A Sliding-Mode-Control Law for Mobile Robots Based on Epipolar Visual Servoing From Three Views. IEEE Transactions on Robotics, 27(1), 175-183. doi:10.1109/tro.2010.2091750Parsapour, M., & Taghirad, H. D. (2015). Kernel-based sliding mode control for visual servoing system. IET Computer Vision, 9(3), 309-320. doi:10.1049/iet-cvi.2013.0310Xin J Ran BJ Ma XM Robot visual sliding mode servoing using SIFT features 2016 Chengdu, ChinaZhao, Y. M., Lin, Y., Xi, F., Guo, S., & Ouyang, P. (2016). Switch-Based Sliding Mode Control for Position-Based Visual Servoing of Robotic Riveting System. Journal of Manufacturing Science and Engineering, 139(4). doi:10.1115/1.4034681Moosavian, S. A. A., & Papadopoulos, E. (2007). Modified transpose Jacobian control of robotic systems. Automatica, 43(7), 1226-1233. doi:10.1016/j.automatica.2006.12.029Sagara, S., & Taira, Y. (2008). Digital control of space robot manipulators with velocity type joint controller using transpose of generalized Jacobian matrix. Artificial Life and Robotics, 13(1), 355-358. doi:10.1007/s10015-008-0584-7Khalaji, A. K., & Moosavian, S. A. A. (2015). Modified transpose Jacobian control of a tractor-trailer wheeled robot. Journal of Mechanical Science and Technology, 29(9), 3961-3969. doi:10.1007/s12206-015-0841-3Utkin, V., Guldner, J., & Shi, J. (2017). Sliding Mode Control in Electro-Mechanical Systems. doi:10.1201/9781420065619Utkin, V. (2016). Discussion Aspects of High-Order Sliding Mode Control. IEEE Transactions on Automatic Control, 61(3), 829-833. doi:10.1109/tac.2015.2450571Romdhane, H., Dehri, K., & Nouri, A. S. (2016). Discrete second-order sliding mode control based on optimal sliding function vector for multivariable systems with input-output representation. International Journal of Robust and Nonlinear Control, 26(17), 3806-3830. doi:10.1002/rnc.3536Sharma, N. K., & Janardhanan, S. (2017). Optimal discrete higher-order sliding mode control of uncertain LTI systems with partial state information. International Journal of Robust and Nonlinear Control. doi:10.1002/rnc.3785LEVANT, A. (1993). Sliding order and sliding accuracy in sliding mode control. International Journal of Control, 58(6), 1247-1263. doi:10.1080/00207179308923053Levant, A. (2003). Higher-order sliding modes, differentiation and output-feedback control. International Journal of Control, 76(9-10), 924-941. doi:10.1080/0020717031000099029Bartolini, G., Ferrara, A., & Usai, E. (1998). Chattering avoidance by second-order sliding mode control. IEEE Transactions on Automatic Control, 43(2), 241-246. doi:10.1109/9.661074Siciliano, B., Sciavicco, L., Villani, L., & Oriolo, G. (2009). Robotics. Advanced Textbooks in Control and Signal Processing. doi:10.1007/978-1-84628-642-1Deo, A. S., & Walker, I. D. (1995). Overview of damped least-squares methods for inverse kinematics of robot manipulators. Journal of Intelligent & Robotic Systems, 14(1), 43-68. doi:10.1007/bf01254007WHEELER, G., SU, C.-Y., & STEPANENKO, Y. (1998). A Sliding Mode Controller with Improved Adaptation Laws for the Upper Bounds on the Norm of Uncertainties. Automatica, 34(12), 1657-1661. doi:10.1016/s0005-1098(98)80024-1Yu-Sheng Lu. (2009). Sliding-Mode Disturbance Observer With Switching-Gain Adaptation and Its Application to Optical Disk Drives. IEEE Transactions on Industrial Electronics, 56(9), 3743-3750. doi:10.1109/tie.2009.2025719Chen, X., Shen, W., Cao, Z., & Kapoor, A. (2014). A novel approach for state of charge estimation based on adaptive switching gain sliding mode observer in electric vehicles. Journal of Power Sources, 246, 667-678. doi:10.1016/j.jpowsour.2013.08.039Cong, B. L., Chen, Z., & Liu, X. D. (2012). On adaptive sliding mode control without switching gain overestimation. International Journal of Robust and Nonlinear Control, 24(3), 515-531. doi:10.1002/rnc.2902Taleb, M., Plestan, F., & Bououlid, B. (2014). An adaptive solution for robust control based on integral high-order sliding mode concept. International Journal of Robust and Nonlinear Control, 25(8), 1201-1213. doi:10.1002/rnc.3135Zhu, J., & Khayati, K. (2016). On a new adaptive sliding mode control for MIMO nonlinear systems with uncertainties of unknown bounds. International Journal of Robust and Nonlinear Control, 27(6), 942-962. doi:10.1002/rnc.3608Hafez AHA Cervera E Jawahar CV Hybrid visual servoing by boosting IBVS and PBVS 2008 Damascus, SyriaKermorgant O Chaumette F Combining IBVS and PBVS to ensure the visibility constraint 2011 San Francisco, CA, USACorke, P. I., & Hutchinson, S. A. (2001). A new partitioned approach to image-based visual servo control. IEEE Transactions on Robotics and Automation, 17(4), 507-515. doi:10.1109/70.954764Yang, Z., & Shen, S. (2017). Monocular Visual–Inertial State Estimation With Online Initialization and Camera–IMU Extrinsic Calibration. 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(2005). ViSP for visual servoing: a generic software platform with a wide class of robot control skills. IEEE Robotics & Automation Magazine, 12(4), 40-52. doi:10.1109/mra.2005.157702

High-Speed Vision and Force Feedback for Motion-Controlled Industrial Manipulators

Over the last decades, both force sensors and cameras have emerged as useful sensors for different applications in robotics. This thesis considers a number of dynamic visual tracking and control problems, as well as the integration of these techniques with contact force control. Different topics ranging from basic theory to system implementation and applications are treated. A new interface developed for external sensor control is presented, designed by making non-intrusive extensions to a standard industrial robot control system. The structure of these extensions are presented, the system properties are modeled and experimentally verified, and results from force-controlled stub grinding and deburring experiments are presented. A novel system for force-controlled drilling using a standard industrial robot is also demonstrated. The solution is based on the use of force feedback to control the contact forces and the sliding motions of the pressure foot, which would otherwise occur during the drilling phase. Basic methods for feature-based tracking and servoing are presented, together with an extension for constrained motion estimation based on a dual quaternion pose parametrization. A method for multi-camera real-time rigid body tracking with time constraints is also presented, based on an optimal selection of the measured features. The developed tracking methods are used as the basis for two different approaches to vision/force control, which are illustrated in experiments. Intensity-based techniques for tracking and vision-based control are also developed. A dynamic visual tracking technique based directly on the image intensity measurements is presented, together with new stability-based methods suitable for dynamic tracking and feedback problems. The stability-based methods outperform the previous methods in many situations, as shown in simulations and experiments

Robot Visual Servoing Using Discontinuous Control

This work presents different proposals to deal with common problems in robot visual servoing based on the application of discontinuous control methods. The feasibility and effectiveness of the proposed approaches are substantiated by simulation results and real experiments using a 6R industrial manipulator. The main contributions are: - Geometric invariance using sliding mode control (Chapter 3): the defined higher-order invariance is used by the proposed approaches to tackle problems in visual servoing. Proofs of invariance condition are presented. - Fulfillment of constraints in visual servoing (Chapter 4): the proposal uses sliding mode methods to satisfy mechanical and visual constraints in visual servoing, while a secondary task is considered to properly track the target object. The main advantages of the proposed approach are: low computational cost, robustness and fully utilization of the allowed space for the constraints. - Robust auto tool change for industrial robots using visual servoing (Chapter 4): visual servoing and the proposed method for constraints fulfillment are applied to an automated solution for tool changing in industrial robots. The robustness of the proposed method is due to the control law of the visual servoing, which uses the information acquired by the vision system to close a feedback control loop. Furthermore, sliding mode control is simultaneously used in a prioritized level to satisfy the aforementioned constraints. Thus, the global control accurately places the tool in the warehouse, but satisfying the robot constraints. - Sliding mode controller for reference tracking (Chapter 5): an approach based on sliding mode control is proposed for reference tracking in robot visual servoing using industrial robot manipulators. The novelty of the proposal is the introduction of a sliding mode controller that uses a high-order discontinuous control signal, i.e., joint accelerations or joint jerks, in order to obtain a smoother behavior and ensure the robot system stability, which is demonstrated with a theoretical proof. - PWM and PFM for visual servoing in fully decoupled approaches (Chapter 6): discontinuous control based on pulse width and pulse frequency modulation is proposed for fully decoupled position based visual servoing approaches, in order to get the same convergence time for camera translation and rotation. Moreover, other results obtained in visual servoing applications are also described.Este trabajo presenta diferentes propuestas para tratar problemas habituales en el control de robots por realimentación visual, basadas en la aplicación de métodos de control discontinuos. La viabilidad y eficacia de las propuestas se fundamenta con resultados en simulación y con experimentos reales utilizando un robot manipulador industrial 6R. Las principales contribuciones son: - Invariancia geométrica utilizando control en modo deslizante (Capítulo 3): la invariancia de alto orden definida aquí es utilizada después por los métodos propuestos, para tratar problemas en control por realimentación visual. Se apuertan pruebas teóricas de la condición de invariancia. - Cumplimiento de restricciones en control por realimentación visual (Capítulo 4): esta propuesta utiliza métodos de control en modo deslizante para satisfacer restricciones mecánicas y visuales en control por realimentación visual, mientras una tarea secundaria se encarga del seguimiento del objeto. Las principales ventajas de la propuesta son: bajo coste computacional, robustez y plena utilización del espacio disponible para las restricciones. - Cambio de herramienta robusto para un robot industrial mediante control por realimentación visual (Capítulo 4): el control por realimentación visual y el método propuesto para el cumplimiento de las restricciones se aplican a una solución automatizada para el cambio de herramienta en robots industriales. La robustez de la propuesta radica en el uso del control por realimentación visual, que utiliza información del sistema de visión para cerrar el lazo de control. Además, el control en modo deslizante se utiliza simultáneamente en un nivel de prioridad superior para satisfacer las restricciones. Así pues, el control es capaz de dejar la herramienta en el intercambiador de herramientas de forma precisa, a la par que satisface las restricciones del robot. - Controlador en modo deslizante para seguimiento de referencia (Capítulo 5): se propone un enfoque basado en el control en modo deslizante para seguimiento de referencia en robots manipuladores industriales controlados por realimentación visual. La novedad de la propuesta radica en la introducción de un controlador en modo deslizante que utiliza la señal de control discontinua de alto orden, i.e. aceleraciones o jerks de las articulaciones, para obtener un comportamiento más suave y asegurar la estabilidad del sistema robótico, lo que se demuestra con una prueba teórica. - Control por realimentación visual mediante PWM y PFM en métodos completamente desacoplados (Capítulo 6): se propone un control discontinuo basado en modulación del ancho y frecuencia del pulso para métodos completamente desacoplados de control por realimentación visual basados en posición, con el objetivo de conseguir el mismo tiempo de convergencia para los movimientos de rotación y traslación de la cámara . Además, se presentan también otros resultados obtenidos en aplicaciones de control por realimentación visual.Aquest treball presenta diferents propostes per a tractar problemes habituals en el control de robots per realimentació visual, basades en l'aplicació de mètodes de control discontinus. La viabilitat i eficàcia de les propostes es fonamenta amb resultats en simulació i amb experiments reals utilitzant un robot manipulador industrial 6R. Les principals contribucions són: - Invariància geomètrica utilitzant control en mode lliscant (Capítol 3): la invariància d'alt ordre definida ací és utilitzada després pels mètodes proposats, per a tractar problemes en control per realimentació visual. S'aporten proves teòriques de la condició d'invariància. - Compliment de restriccions en control per realimentació visual (Capítol 4): aquesta proposta utilitza mètodes de control en mode lliscant per a satisfer restriccions mecàniques i visuals en control per realimentació visual, mentre una tasca secundària s'encarrega del seguiment de l'objecte. Els principals avantatges de la proposta són: baix cost computacional, robustesa i plena utilització de l'espai disponible per a les restriccions. - Canvi de ferramenta robust per a un robot industrial mitjançant control per realimentació visual (Capítol 4): el control per realimentació visual i el mètode proposat per al compliment de les restriccions s'apliquen a una solució automatitzada per al canvi de ferramenta en robots industrials. La robustesa de la proposta radica en l'ús del control per realimentació visual, que utilitza informació del sistema de visió per a tancar el llaç de control. A més, el control en mode lliscant s'utilitza simultàniament en un nivell de prioritat superior per a satisfer les restriccions. Així doncs, el control és capaç de deixar la ferramenta en l'intercanviador de ferramentes de forma precisa, a la vegada que satisfà les restriccions del robot. - Controlador en mode lliscant per a seguiment de referència (Capítol 5): es proposa un enfocament basat en el control en mode lliscant per a seguiment de referència en robots manipuladors industrials controlats per realimentació visual. La novetat de la proposta radica en la introducció d'un controlador en mode lliscant que utilitza senyal de control discontínua d'alt ordre, i.e. acceleracions o jerks de les articulacions, per a obtindre un comportament més suau i assegurar l'estabilitat del sistema robòtic, la qual cosa es demostra amb una prova teòrica. - Control per realimentació visual mitjançant PWM i PFM en mètodes completament desacoblats (Capítol 6): es proposa un control discontinu basat en modulació de l'ample i la freqüència del pols per a mètodes completament desacoblats de control per realimentació visual basats en posició, amb l'objectiu d'aconseguir el mateix temps de convergència per als moviments de rotació i translació de la càmera. A més, es presenten també altres resultats obtinguts en aplicacions de control per realimentació visual.Muñoz Benavent, P. (2017). Robot Visual Servoing Using Discontinuous Control [Tesis doctoral no publicada]. Universitat Politècnica de València. https://doi.org/10.4995/Thesis/10251/90430TESI

Visual servo control on a humanoid robot

Includes bibliographical referencesThis thesis deals with the control of a humanoid robot based on visual servoing. It seeks to confer a degree of autonomy to the robot in the achievement of tasks such as reaching a desired position, tracking or/and grasping an object. The autonomy of humanoid robots is considered as crucial for the success of the numerous services that this kind of robots can render with their ability to associate dexterity and mobility in structured, unstructured or even hazardous environments. To achieve this objective, a humanoid robot is fully modeled and the control of its locomotion, conditioned by postural balance and gait stability, is studied. The presented approach is formulated to account for all the joints of the biped robot. As a way to conform the reference commands from visual servoing to the discrete locomotion mode of the robot, this study exploits a reactive omnidirectional walking pattern generator and a visual task Jacobian redefined with respect to a floating base on the humanoid robot, instead of the stance foot. The redundancy problem stemming from the high number of degrees of freedom coupled with the omnidirectional mobility of the robot is handled within the task priority framework, allowing thus to achieve con- figuration dependent sub-objectives such as improving the reachability, the manipulability and avoiding joint limits. Beyond a kinematic formulation of visual servoing, this thesis explores a dynamic visual approach and proposes two new visual servoing laws. Lyapunov theory is used first to prove the stability and convergence of the visual closed loop, then to derive a robust adaptive controller for the combined robot-vision dynamics, yielding thus an ultimate uniform bounded solution. Finally, all proposed schemes are validated in simulation and experimentally on the humanoid robot NAO