2.5D visual servo control in the presence of time-varying state and input delays

Abstract

State and input delays are ubiquitous in networked visual servo control systems due to image acquisition, transmission, and processing latencies. In addition, the delays can be time-varying due to network uncertainties and the complexity of the images to be processed. This paper revisits the popular 2.5D visual servo control problem but considers the presence of state and input delays. Specifically, the objective is to regulate a monocular camera to a desired position and orientation in the presence of time-varying state and input delays. A partial differential equation based robust controller is developed that uses a linear transformation to map the time dependent control input to a new control input of two variables. This transformation facilitates development of a robust controller that compensates for the uncertain time-varying state delays and the known time-varying input delays. A Lyapunov-based stability analysis is presented that guarantees uniformly ultimately bounded (UUB) regulation error.