English (United Kingdom)

https://curated-unify.zendy.io/wp-json/zendy-region/v1/featured_content/oa?rat=en

https://curated-unify.zendy.io/wp-json/zendy-region/v1/highlighted_journal/

Global: Zendy Plus annual

Presents the access of premium content as premium feature

Premium Content

Presents the keyphrase highlighting as premium feature

Keyphrase Highlighting

Presents the summarisation as premium feature

Summarisation

Insights

Presents the pdf analysis as premium feature

PDF Analysis

Presents the zaia usage as premium feature

ZAIA

Global: Zendy Tools annual

Global: Zendy Free Plan

Global: Zendy Tools monthly

Global: Zendy Plus monthly

In this paper, a visual servoing robotic control scheme of fast convergence and calibration-free is proposed. The objective of this paper is to achieve a better convergence around the equilibrium for uncalibrated visual servoing systems. Moreover, there are threefold unknown parameters, the visual kinematic parameters, the dynamic parameters and the parameters of the feature points, considered in the design of the proposed control scheme. In order to achieve the above control objective, the finite-time tracking controller and three adaptive laws are proposed. The adaptability to the unknown parameters is guaranteed by the online adaptive laws. The finite-time convergence is achieved by the continuously non-smooth fractional order function in the controller. The rigorously mathematic proof of stability is given by homogeneous theory and the Lyapunov function formalism. Three real-time experiments are conducted to demonstrate the practical performance of the proposed scheme.

Toward Fast Convergence and Calibration-Free Visual Servoing Control: A New Image Based Uncalibrated Finite Time Control Scheme