{"id":"https://openalex.org/W4385758931","doi":"https://doi.org/10.3390/s23167133","title":"Design of A Finite-Time Adaptive Controller for Image-Based Uncalibrated Visual Servo Systems with Uncertainties in Robot and Camera Models","display_name":"Design of A Finite-Time Adaptive Controller for Image-Based Uncalibrated Visual Servo Systems with Uncertainties in Robot and Camera Models","publication_year":2023,"publication_date":"2023-08-11","ids":{"openalex":"https://openalex.org/W4385758931","doi":"https://doi.org/10.3390/s23167133","pmid":"https://pubmed.ncbi.nlm.nih.gov/37631670"},"language":"en","primary_location":{"id":"doi:10.3390/s23167133","is_oa":true,"landing_page_url":"https://doi.org/10.3390/s23167133","pdf_url":"https://www.mdpi.com/1424-8220/23/16/7133/pdf?version=1691769962","source":{"id":"https://openalex.org/S101949793","display_name":"Sensors","issn_l":"1424-8220","issn":["1424-8220"],"is_oa":true,"is_in_doaj":true,"is_core":true,"host_organization":"https://openalex.org/P4310310987","host_organization_name":"Multidisciplinary Digital Publishing Institute","host_organization_lineage":["https://openalex.org/P4310310987"],"host_organization_lineage_names":["Multidisciplinary Digital Publishing Institute"],"type":"journal"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Sensors","raw_type":"journal-article"},"type":"article","indexed_in":["crossref","doaj","pubmed"],"open_access":{"is_oa":true,"oa_status":"gold","oa_url":"https://www.mdpi.com/1424-8220/23/16/7133/pdf?version=1691769962","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5042716523","display_name":"Zhuoqun Zhao","orcid":"https://orcid.org/0000-0002-4345-8279"},"institutions":[{"id":"https://openalex.org/I162868743","display_name":"Tianjin University","ror":"https://ror.org/012tb2g32","country_code":"CN","type":"education","lineage":["https://openalex.org/I162868743"]},{"id":"https://openalex.org/I4210102575","display_name":"TianjinSino-German University of Applied Sciences","ror":"https://ror.org/01243ws42","country_code":"CN","type":"education","lineage":["https://openalex.org/I4210102575"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Zhuoqun Zhao","raw_affiliation_strings":["School of Electrical and Information Engineering, Tianjin University, Tianjin 300072, China","School of Mechanical Engineering, Tianjin Sino-German University of Applied Sciences, Tianjin 300350, China"],"affiliations":[{"raw_affiliation_string":"School of Electrical and Information Engineering, Tianjin University, Tianjin 300072, China","institution_ids":["https://openalex.org/I162868743"]},{"raw_affiliation_string":"School of Mechanical Engineering, Tianjin Sino-German University of Applied Sciences, Tianjin 300350, China","institution_ids":["https://openalex.org/I4210102575"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5100351611","display_name":"Jiang Wang","orcid":"https://orcid.org/0000-0002-2189-8003"},"institutions":[{"id":"https://openalex.org/I162868743","display_name":"Tianjin University","ror":"https://ror.org/012tb2g32","country_code":"CN","type":"education","lineage":["https://openalex.org/I162868743"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Jiang Wang","raw_affiliation_strings":["School of Electrical and Information Engineering, Tianjin University, Tianjin 300072, China"],"affiliations":[{"raw_affiliation_string":"School of Electrical and Information Engineering, Tianjin University, Tianjin 300072, China","institution_ids":["https://openalex.org/I162868743"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5074620105","display_name":"Hui Zhao","orcid":"https://orcid.org/0000-0002-5326-9930"},"institutions":[{"id":"https://openalex.org/I136765683","display_name":"Tianjin University of Technology","ror":"https://ror.org/00zbe0w13","country_code":"CN","type":"education","lineage":["https://openalex.org/I136765683"]}],"countries":["CN"],"is_corresponding":true,"raw_author_name":"Hui Zhao","raw_affiliation_strings":["School of Electrical Engineering and Automation, Tianjin University of Technology, Tianjin 300384, China"],"affiliations":[{"raw_affiliation_string":"School of Electrical Engineering and Automation, Tianjin University of Technology, Tianjin 300384, China","institution_ids":["https://openalex.org/I136765683"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":3,"corresponding_author_ids":["https://openalex.org/A5074620105"],"corresponding_institution_ids":["https://openalex.org/I136765683"],"apc_list":{"value":2400,"currency":"CHF","value_usd":2598},"apc_paid":{"value":2400,"currency":"CHF","value_usd":2598},"fwci":0.2456,"has_fulltext":true,"cited_by_count":2,"citation_normalized_percentile":{"value":0.51721076,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":90,"max":95},"biblio":{"volume":"23","issue":"16","first_page":"7133","last_page":"7133"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10531","display_name":"Advanced Vision and Imaging","score":0.9998999834060669,"subfield":{"id":"https://openalex.org/subfields/1707","display_name":"Computer Vision and Pattern Recognition"},"field":{"id":"https://openalex.org/fields/17","display_name":"Computer Science"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},"topics":[{"id":"https://openalex.org/T10531","display_name":"Advanced Vision and Imaging","score":0.9998999834060669,"subfield":{"id":"https://openalex.org/subfields/1707","display_name":"Computer Vision and Pattern Recognition"},"field":{"id":"https://openalex.org/fields/17","display_name":"Computer Science"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T13114","display_name":"Image Processing Techniques and Applications","score":0.9968000054359436,"subfield":{"id":"https://openalex.org/subfields/2214","display_name":"Media Technology"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T13579","display_name":"Image and Video Stabilization","score":0.991100013256073,"subfield":{"id":"https://openalex.org/subfields/1707","display_name":"Computer Vision and Pattern Recognition"},"field":{"id":"https://openalex.org/fields/17","display_name":"Computer Science"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}}],"keywords":[{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.7691769599914551},{"id":"https://openalex.org/keywords/controller","display_name":"Controller (irrigation)","score":0.6437138915061951},{"id":"https://openalex.org/keywords/jacobian-matrix-and-determinant","display_name":"Jacobian matrix and determinant","score":0.5795767903327942},{"id":"https://openalex.org/keywords/lyapunov-stability","display_name":"Lyapunov stability","score":0.5493485927581787},{"id":"https://openalex.org/keywords/visual-servoing","display_name":"Visual servoing","score":0.5162389278411865},{"id":"https://openalex.org/keywords/lyapunov-function","display_name":"Lyapunov function","score":0.5127816796302795},{"id":"https://openalex.org/keywords/adaptive-control","display_name":"Adaptive control","score":0.4948362708091736},{"id":"https://openalex.org/keywords/kinematics","display_name":"Kinematics","score":0.4553651213645935},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.4438607692718506},{"id":"https://openalex.org/keywords/nonlinear-system","display_name":"Nonlinear system","score":0.43916967511177063},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.35711419582366943},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.3462444543838501},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.2778134346008301}],"concepts":[{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.7691769599914551},{"id":"https://openalex.org/C203479927","wikidata":"https://www.wikidata.org/wiki/Q5165939","display_name":"Controller (irrigation)","level":2,"score":0.6437138915061951},{"id":"https://openalex.org/C200331156","wikidata":"https://www.wikidata.org/wiki/Q506041","display_name":"Jacobian matrix and determinant","level":2,"score":0.5795767903327942},{"id":"https://openalex.org/C2776829284","wikidata":"https://www.wikidata.org/wiki/Q1341651","display_name":"Lyapunov stability","level":3,"score":0.5493485927581787},{"id":"https://openalex.org/C10912380","wikidata":"https://www.wikidata.org/wiki/Q527952","display_name":"Visual servoing","level":3,"score":0.5162389278411865},{"id":"https://openalex.org/C60640748","wikidata":"https://www.wikidata.org/wiki/Q2337858","display_name":"Lyapunov function","level":3,"score":0.5127816796302795},{"id":"https://openalex.org/C107464732","wikidata":"https://www.wikidata.org/wiki/Q235781","display_name":"Adaptive control","level":3,"score":0.4948362708091736},{"id":"https://openalex.org/C39920418","wikidata":"https://www.wikidata.org/wiki/Q11476","display_name":"Kinematics","level":2,"score":0.4553651213645935},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.4438607692718506},{"id":"https://openalex.org/C158622935","wikidata":"https://www.wikidata.org/wiki/Q660848","display_name":"Nonlinear system","level":2,"score":0.43916967511177063},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.35711419582366943},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.3462444543838501},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.2778134346008301},{"id":"https://openalex.org/C6557445","wikidata":"https://www.wikidata.org/wiki/Q173113","display_name":"Agronomy","level":1,"score":0.0},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.0},{"id":"https://openalex.org/C62520636","wikidata":"https://www.wikidata.org/wiki/Q944","display_name":"Quantum mechanics","level":1,"score":0.0},{"id":"https://openalex.org/C28826006","wikidata":"https://www.wikidata.org/wiki/Q33521","display_name":"Applied mathematics","level":1,"score":0.0},{"id":"https://openalex.org/C86803240","wikidata":"https://www.wikidata.org/wiki/Q420","display_name":"Biology","level":0,"score":0.0},{"id":"https://openalex.org/C74650414","wikidata":"https://www.wikidata.org/wiki/Q11397","display_name":"Classical mechanics","level":1,"score":0.0},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.0}],"mesh":[],"locations_count":5,"locations":[{"id":"doi:10.3390/s23167133","is_oa":true,"landing_page_url":"https://doi.org/10.3390/s23167133","pdf_url":"https://www.mdpi.com/1424-8220/23/16/7133/pdf?version=1691769962","source":{"id":"https://openalex.org/S101949793","display_name":"Sensors","issn_l":"1424-8220","issn":["1424-8220"],"is_oa":true,"is_in_doaj":true,"is_core":true,"host_organization":"https://openalex.org/P4310310987","host_organization_name":"Multidisciplinary Digital Publishing Institute","host_organization_lineage":["https://openalex.org/P4310310987"],"host_organization_lineage_names":["Multidisciplinary Digital Publishing Institute"],"type":"journal"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Sensors","raw_type":"journal-article"},{"id":"pmid:37631670","is_oa":false,"landing_page_url":"https://pubmed.ncbi.nlm.nih.gov/37631670","pdf_url":null,"source":{"id":"https://openalex.org/S4306525036","display_name":"PubMed","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I1299303238","host_organization_name":"National Institutes of Health","host_organization_lineage":["https://openalex.org/I1299303238"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Sensors (Basel, Switzerland)","raw_type":null},{"id":"pmh:oai:pubmedcentral.nih.gov:10457744","is_oa":true,"landing_page_url":"https://www.ncbi.nlm.nih.gov/pmc/articles/10457744","pdf_url":"https://pmc.ncbi.nlm.nih.gov/articles/PMC10457744/pdf/sensors-23-07133.pdf","source":{"id":"https://openalex.org/S2764455111","display_name":"PubMed Central","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I1299303238","host_organization_name":"National Institutes of Health","host_organization_lineage":["https://openalex.org/I1299303238"],"host_organization_lineage_names":[],"type":"repository"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"Sensors (Basel)","raw_type":"Text"},{"id":"pmh:oai:doaj.org/article:f901f9e2510a4ee0a5ce2875d60f37a4","is_oa":true,"landing_page_url":"https://doaj.org/article/f901f9e2510a4ee0a5ce2875d60f37a4","pdf_url":null,"source":{"id":"https://openalex.org/S112646816","display_name":"SHILAP Revista de lepidopterolog\u00eda","issn_l":"0300-5267","issn":["0300-5267","2340-4078"],"is_oa":true,"is_in_doaj":true,"is_core":false,"host_organization":null,"host_organization_name":null,"host_organization_lineage":[],"host_organization_lineage_names":[],"type":"journal"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"Sensors, Vol 23, Iss 16, p 7133 (2023)","raw_type":"article"},{"id":"pmh:oai:mdpi.com:/1424-8220/23/16/7133/","is_oa":true,"landing_page_url":"https://dx.doi.org/10.3390/s23167133","pdf_url":null,"source":{"id":"https://openalex.org/S4306400947","display_name":"MDPI (MDPI AG)","issn_l":null,"issn":null,"is_oa":true,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I4210097602","host_organization_name":"Multidisciplinary Digital Publishing Institute (Switzerland)","host_organization_lineage":["https://openalex.org/I4210097602"],"host_organization_lineage_names":[],"type":"repository"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"Sensors; Volume 23; Issue 16; Pages: 7133","raw_type":"Text"}],"best_oa_location":{"id":"doi:10.3390/s23167133","is_oa":true,"landing_page_url":"https://doi.org/10.3390/s23167133","pdf_url":"https://www.mdpi.com/1424-8220/23/16/7133/pdf?version=1691769962","source":{"id":"https://openalex.org/S101949793","display_name":"Sensors","issn_l":"1424-8220","issn":["1424-8220"],"is_oa":true,"is_in_doaj":true,"is_core":true,"host_organization":"https://openalex.org/P4310310987","host_organization_name":"Multidisciplinary Digital Publishing Institute","host_organization_lineage":["https://openalex.org/P4310310987"],"host_organization_lineage_names":["Multidisciplinary Digital Publishing Institute"],"type":"journal"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Sensors","raw_type":"journal-article"},"sustainable_development_goals":[{"id":"https://metadata.un.org/sdg/16","display_name":"Peace, Justice and strong institutions","score":0.6700000166893005}],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":true},"content_urls":{"pdf":"https://content.openalex.org/works/W4385758931.pdf"},"referenced_works_count":28,"referenced_works":["https://openalex.org/W1857210606","https://openalex.org/W1975400533","https://openalex.org/W2043224229","https://openalex.org/W2294330364","https://openalex.org/W2594538731","https://openalex.org/W2895115048","https://openalex.org/W2905038413","https://openalex.org/W2954808819","https://openalex.org/W2970289687","https://openalex.org/W2983652812","https://openalex.org/W3115288937","https://openalex.org/W3158711688","https://openalex.org/W3181720022","https://openalex.org/W3194418994","https://openalex.org/W4207036661","https://openalex.org/W4210247994","https://openalex.org/W4229019245","https://openalex.org/W4283723086","https://openalex.org/W4289769024","https://openalex.org/W4293370930","https://openalex.org/W4308156607","https://openalex.org/W4311759280","https://openalex.org/W4312380253","https://openalex.org/W4312971695","https://openalex.org/W4313154097","https://openalex.org/W4313420583","https://openalex.org/W4319443973","https://openalex.org/W4360595457"],"related_works":["https://openalex.org/W2171817899","https://openalex.org/W2376367950","https://openalex.org/W213797040","https://openalex.org/W2620386921","https://openalex.org/W571470105","https://openalex.org/W1851410152","https://openalex.org/W2091554547","https://openalex.org/W1934622834","https://openalex.org/W2372856383","https://openalex.org/W2015036175"],"abstract_inverted_index":{"Aiming":[0],"at":[1],"the":[2,25,30,44,81,84,88,94,98,107,112,116,121,131,139,142,152,155,162,168,171,175,181],"time-varying":[3],"uncertainties":[4],"of":[5,33,46,87,97,120,158],"robot":[6,48],"and":[7,38,50,93,111,144,161,180],"camera":[8,52],"models":[9],"in":[10,102,141,154],"IBUVS":[11],"(image-based":[12],"uncalibrated":[13],"visual":[14,146],"servo)":[15],"systems,":[16],"a":[17,47,51,55,63,68,75],"finite-time":[18,56,113,118],"adaptive":[19,31,57],"controller":[20,58,133,182],"is":[21,41,59,91,100,124,178],"proposed":[22,42,132],"based":[23],"on":[24],"depth-independent":[26],"Jacobian":[27],"matrix.":[28],"Firstly,":[29],"law":[32],"depth":[34],"parameters,":[35,37],"kinematic":[36],"dynamic":[39,69,185],"parameters":[40],"for":[43],"uncertainty":[45],"model":[49],"model.":[53],"Secondly,":[54],"designed":[60],"by":[61],"using":[62,106],"nonlinear":[64,78],"proportional":[65],"differential":[66],"plus":[67],"feedforward":[70],"compensation":[71],"structure.":[72],"By":[73],"applying":[74],"continuous":[76],"non-smooth":[77],"function":[79],"to":[80,138,151],"feedback":[82],"error,":[83],"control":[85],"quality":[86],"closed-loop":[89,122],"system":[90,123],"improved,":[92,179],"desired":[95],"trajectory":[96],"image":[99],"tracked":[101],"finite":[103],"time.":[104],"Finally,":[105],"Lyapunov":[108],"stability":[109,114,119],"theory":[110],"theory,":[115],"global":[117],"proven.":[125],"The":[126],"experimental":[127],"results":[128],"show":[129],"that":[130],"can":[134],"not":[135],"only":[136],"adapt":[137,150],"changes":[140,153],"EIH":[143],"ETH":[145],"configurations":[147],"but":[148],"also":[149],"relative":[156,164],"pose":[157,165],"feature":[159],"points":[160],"camera's":[163],"parameters.":[166],"At":[167],"same":[169],"time,":[170],"convergence":[172],"rate":[173],"near":[174],"equilibrium":[176],"point":[177],"has":[183],"good":[184],"stability.":[186]},"counts_by_year":[{"year":2025,"cited_by_count":1},{"year":2024,"cited_by_count":1}],"updated_date":"2025-12-25T23:11:45.687758","created_date":"2025-10-10T00:00:00"}