Compensating for time-varying input and state delays inherent to image-based control systems

Image feedback has become a common means to provide feedback to autonomous systems. However, when used in a feedback loop, acquiring and then processing images introduces delays in both the state feedback and the control input. Since the image processing time depends on the complexity of the image/environment, the delays can be time varying. Such effects can destabilize the closed-loop system. A robust control approach is developed in this paper which enables an autonomous system to track a desired trajectory despite the time-varying input and state delays. Lyapunov-based analysis methods are used to prove the tracking error is uniformly ultimately bounded, and simulation results for a camera-to-hand image guided sensorless missile demonstrate the performance of the developed approach.

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