Statistics

Servo

Adaptive control

Physics

Artificial intelligence

Projective test

Control (management)

Observer (physics)

Homography

Computer vision

Servo control

Mathematics

Computer science

Control theory (sociology)

Fuzzy logic

Quantum mechanics

Backstepping

Projective space

IEEE Transactions on Industrial Electronics

In this article, in the presence of completely unknown dynamics and unmeasurable velocities, a dynamics-level finite-time fuzzy monocular visual servo (DFFMVS) scheme is created for regulating an unmanned surface vehicle (USV) to the desired pose. Main contributions are as follows: first, with the aid of homography decomposition, a novel homography-based visual servo structure for a USV with both kinematics and dynamics is first established such that complex unknowns including unmeasurable poses and velocities, image depth, system dynamics, and time-varying inertia are sufficiently encapsulated; second, using finite-time observer technique, finite-time velocity observer (FVO) based visual-servo error dynamics are elaboratively formulated, and thereby facilitating backstepping synthesis; third, by virtue of the FVO, the adaptive fuzzy dynamics approximator together with adaptive residual feedback is deployed to compensate complex unknowns, and thereby contributing to accurate regulation of pose errors; and fourth, a completely model-free monocular visual servo approach only using a camera is eventually invented. Simulation studies on a benchmark prototype USV demonstrate that the proposed DFFMVS scheme has remarkable performance with significant superiority in both visual servo and unknowns observation.

Dynamics-Level Finite-Time Fuzzy Monocular Visual Servo of an Unmanned Surface Vehicle