Robust Image-Based Visual Servoing Constraints Controller with Guaranteed Field of View

This article addresses the problem of visual features escaping from the cameras field of view when implementing the visual servoing task, by designing a constraint image based visual servoing controller. An asymmetric barrier Lyapunov function is introduced to define a strict pre-specified range for the feature tracking error to indirectly ensure that it is limited to the FoV of the camera, while guaranteeing the transient behavior of the tracking error and achieving exceptionally high precision in tracking. Finally, the stability analysis is illustrated using the asymmetric BLF, and the experiment results demonstrate the effectiveness of the proposed control strategy.