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Asian Journal of Control

Vision feedback is used in many modern control systems as it improves robustness to model uncertainty. In addition to providing feedback relating the local position and orientation of the control plant with respect to a reference object, an image sensor can also be used to relate local sensory information to an inertial reference frame for global control tasks. However, the use of vision feedback adds complexity and new challenges for the control system design. Beyond expertise in a specific discipline, vision-based control approach requires multidisciplinary expertise to integrate a vision system with the controller for tasks including: processing images at rates amenable to feedback control; image analysis and feature point extraction/tracking; recovering/estimating necessary state information from an image; operating within the limits of the sensor range or field-of-view; modeling the control plant; designing the feedback controller; analysis of closed-loop control systems. Vision-based control has developed into a large subset of control and robotics literature because of the enabling capabilities it can provide for autonomy.