ON sensor switching visual servoing

Abstract

This article investigates dynamic camera switching during visual servoing tasks using multi-camera systems considering image-based and position-based Jacobian transpose control schemes. Stability is discussed using a common Lyapunov function assuming ideal target and camera models and multiple Lyapunov functions under parameter perturbations. It is shown that asymptotic stability cannot be achieved for arbitrary switching under parameter perturbations. Therefore, an energy supervised switching scheme is introduced guaranteeing asymptotic stability. The contributions are stable visual servoing strategies which facilitate instantaneous adjustments of control performance and dynamical device switches in case of task requirements or sensor breakdown.