Passivity-Based Adaptive Control for Visually Servoed Robotic Systems

This paper investigates the visual servoing problem for robotic systems with uncertain kinematic, dynamic, and camera parameters. We first present the passivity properties associated with the overall kinematics of the system, and then propose a passivity-based adaptive control scheme to resolve the visual tracking problem. With the Lyapunov analysis approach, it is shown that the image-space tracking errors converge to zero irrespective of the invertibility of the estimated depth. A simulation is performed to show the tracking performance of the proposed adaptive controller.