Image-based Visual Servo Control Design with Multi-Constraint Satisfaction - Visual Servoing via Advanced Numerical Methods - page 282

Based on both polytopic and norm-bounded representations of uncertainties, and
a modified sector condition for the description of saturation terms, the proposed
controller stabilizes the camera despite unknown value of the target points depth,
bounds on admissible visual features errors to ensure visibility, and limits on the
camera velocity and acceleration. The main results are given as constructive condi-
tions by exploiting Lyapunov analysis and LMI-based optimization procedures.
When dealing with such a problematic, there are still open problems. Several
steps could be investigated: to use Lyapunov functions with more complex struc-
tures, for example as in [8]; to search for different structures of the control law,
inspired for example by those issued from [23].
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