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This paper addresses robust visual servoing based regulation of multi-feature points for a 3D manipulator with unknown intrinsic and extrinsic parameters of the vision system. This class of control systems are highly nonlinear control systems characterized as time-varying and strong couple in states and unknown parameters. It is first pointed out that the image Jacobian matrix is not only nonsingular,...
This paper considers the problem of stabilization of wheeled mobile robots based on visual servoing in the presence of global vision. A robust stabilization law is proposed on the visual plane with uncertain camera inner parameters. The performance of the control laws are verified by the simulation
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