Jump to : Download | Abstract | Contact | BibTex reference | EndNote reference |


N. Mansard, A. Remazeilles, F. Chaumette. Continuity of varying-feature-set control laws. IEEE Trans. on Automatic Control, 54(11):2493-2505, November 2009.

Download [help]

Download paper: Doi page

Download Hal paper: Hal : Hyper Archive en ligne

Download paper: Adobe portable document (pdf) pdf

Copyright notice:

This material is presented to ensure timely dissemination of scholarly and technical work. Copyright and all rights therein are retained by authors or by other copyright holders. All persons copying this information are expected to adhere to the terms and constraints invoked by each author's copyright. These works may not be reposted without the explicit permission of the copyright holder. This page is automatically generated by bib2html v217, © Inria 2002-2015, Projet Lagadic


Classical sensor-based control laws are based on the regulation of a set of features to a desired reference value. In this paper, we focus on the study of control laws whose feature set varies during the servo. In that case, we first show that the classical control laws that use an iterative leastsquare minimization are discontinuous. We then show that these discontinuities are due to the pseudo-inverse operator, which is not continuous at matrix rank change. To solve this problem, we propose a new inversion operator. This operator is equal to the classical pseudo-inverse operator in the continuous cases, and ensures the continuity everywhere. This operator is then used to build a new control law. This general control scheme is applied to visual servoing, in order to ensure the continuity of the control law when some visual features leave the camera field of view. The experiments prove the interest and the validity of our approach


François Chaumette

BibTex Reference

   Author = {Mansard, N. and Remazeilles, A. and Chaumette, F.},
   Title = {Continuity of varying-feature-set control laws},
   Journal = {IEEE Trans. on Automatic Control},
   Volume = {       54},
   Number = {11},
   Pages = {2493--2505},
   Publisher = {IEEE},
   Month = {November},
   Year = {2009}

EndNote Reference [help]

Get EndNote Reference (.ref)

| Lagadic | Map | Team | Publications | Demonstrations |
Irisa - Inria - Copyright 2009 © Lagadic Project