{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2026,5,2]],"date-time":"2026-05-02T09:53:27Z","timestamp":1777715607491,"version":"3.51.4"},"reference-count":26,"publisher":"SAGE Publications","issue":"11","license":[{"start":{"date-parts":[[2006,11,1]],"date-time":"2006-11-01T00:00:00Z","timestamp":1162339200000},"content-version":"tdm","delay-in-days":0,"URL":"https:\/\/journals.sagepub.com\/page\/policies\/text-and-data-mining-license"}],"content-domain":{"domain":[],"crossmark-restriction":false},"short-container-title":["The International Journal of Robotics Research"],"published-print":{"date-parts":[[2006,11]]},"abstract":"<jats:p>In this paper a control theoretical solution is presented for the direct adaptive visual dynamic control of planar manipulators using a fixed camera, when both camera calibration and robot dynamics are uncertain. The proposed scheme is developed for image-based look-and-move visual systems to allow tracking of a moving target. In order to solve the multivariable parameter adaptive problem, the recently proposed Immersion and Invariance (I&amp;I) method is used. The scheme is then combined with an adaptive controller for the manipulator, taking into account its nonlinear dynamics. This leads to an overall stable adaptive visual servoing system. An extension of the I&amp;I approach for 3 D visual servoing is shown to be possible by a convenient control reparametrization associated with a proper image-based depth control scheme.<\/jats:p>","DOI":"10.1177\/0278364906072039","type":"journal-article","created":{"date-parts":[[2006,10,23]],"date-time":"2006-10-23T08:41:47Z","timestamp":1161592907000},"page":"1149-1159","source":"Crossref","is-referenced-by-count":24,"title":["Dynamic Control of Uncertain Manipulators Through Immersion and Invariance                 Adaptive Visual Servoing"],"prefix":"10.1177","volume":"25","author":[{"given":"Alessandro R. L.","family":"Zachi","sequence":"first","affiliation":[{"name":"Dept. of Electrical Engineering CEFET\/RJ, Rio de Janeiro, Brazil,"}]},{"given":"Liu","family":"Hsu","sequence":"additional","affiliation":[{"name":"Dept. of Electrical Engineering\/COPPE, Federal University of Rio de                         Janeiro Brazil,"}]},{"given":"Romeo","family":"Ortega","sequence":"additional","affiliation":[{"name":"Lab. des Signaux et Syst\u00e8mes, Supelec, Gif-sur-Yvette, France,"}]},{"given":"Fernando","family":"Lizarralde","sequence":"additional","affiliation":[{"name":"Dept. of Electrical Engineering\/COPPE, Federal University of Rio de                         Janeiro Brazil,"}]}],"member":"179","published-online":{"date-parts":[[2006,11,1]]},"reference":[{"key":"atypb1","doi-asserted-by":"publisher","DOI":"10.1109\/TRA.2002.1019475"},{"key":"atypb2","author":"Bishop, B.","year":"1997","journal-title":"Syroco97"},{"key":"atypb3","doi-asserted-by":"publisher","DOI":"10.1109\/70.538973"},{"key":"atypb4","doi-asserted-by":"publisher","DOI":"10.1109\/70.143350"},{"key":"atypb5","first-page":"2860","volume-title":"IEEE Conference on Decision and Control","author":"Fang, Y."},{"key":"atypb6","first-page":"2741","volume-title":"IEEE International Conference on Robotics & Automation","author":"Flandin, G."},{"key":"atypb7","first-page":"2137","volume-title":"IEEE Conference on Decision and Control","author":"Guenther, R."},{"key":"atypb8","first-page":"1248","volume-title":"IEEE Conference on Decision and Control","author":"Hsu, L."},{"key":"atypb9","doi-asserted-by":"publisher","DOI":"10.1109\/CCA.2000.897553"},{"key":"atypb10","first-page":"1866","volume-title":"IEEE Conference on Decision and Control","author":"Hsu, L."},{"key":"atypb11","doi-asserted-by":"publisher","DOI":"10.1109\/70.538972"},{"key":"atypb12","volume-title":"Robust Adaptive Control","author":"Ioannou, P.","year":"1996"},{"key":"atypb13","doi-asserted-by":"publisher","DOI":"10.1109\/70.538980"},{"key":"atypb14","first-page":"599","volume-title":"IEEE International Conference on Robotics & Automation","author":"Kelly, R."},{"key":"atypb15","doi-asserted-by":"publisher","DOI":"10.1109\/21.101144"},{"key":"atypb16","doi-asserted-by":"publisher","DOI":"10.1016\/S0921-8890(02)00370-6"},{"key":"atypb17","doi-asserted-by":"publisher","DOI":"10.1016\/S0167-6911(02)00341-9"},{"key":"atypb18","doi-asserted-by":"publisher","DOI":"10.1109\/9.210141"},{"key":"atypb19","doi-asserted-by":"publisher","DOI":"10.1007\/978-1-4471-0449-0"},{"key":"atypb20","volume-title":"Applied Nonlinear Control","author":"Slotine, J. J.","year":"1991"},{"issue":"4","key":"atypb21","first-page":"634","volume":"8","author":"Xiao, D.","year":"2000","journal-title":"IEEE Transactions on Control Systems Technology"},{"key":"atypb22","volume-title":"IEEE International Conference on Robotics & Automation","author":"Zachi, A. R. L."},{"key":"atypb23","first-page":"1510","volume-title":"Proceedings of the 14th Brazilian Conference on Automatic Control","author":"Zachi, A. R. L."},{"key":"atypb24","first-page":"2860","volume-title":"IEEE International Conference on Robotics & Automation","author":"Zachi, A. R. L."},{"key":"atypb25","first-page":"1510","volume-title":"American Control Conference","author":"Zachi, A. R. L."},{"key":"atypb26","first-page":"4137","volume-title":"IEEE Conference on Decision and Control","author":"Zergeroglu, E."}],"container-title":["The International Journal of Robotics Research"],"original-title":[],"language":"en","link":[{"URL":"https:\/\/journals.sagepub.com\/doi\/pdf\/10.1177\/0278364906072039","content-type":"application\/pdf","content-version":"vor","intended-application":"text-mining"},{"URL":"https:\/\/journals.sagepub.com\/doi\/pdf\/10.1177\/0278364906072039","content-type":"unspecified","content-version":"vor","intended-application":"similarity-checking"}],"deposited":{"date-parts":[[2026,4,29]],"date-time":"2026-04-29T10:15:38Z","timestamp":1777457738000},"score":1,"resource":{"primary":{"URL":"https:\/\/journals.sagepub.com\/doi\/10.1177\/0278364906072039"}},"subtitle":[],"short-title":[],"issued":{"date-parts":[[2006,11]]},"references-count":26,"journal-issue":{"issue":"11","published-print":{"date-parts":[[2006,11]]}},"alternative-id":["10.1177\/0278364906072039"],"URL":"https:\/\/doi.org\/10.1177\/0278364906072039","relation":{},"ISSN":["0278-3649","1741-3176"],"issn-type":[{"value":"0278-3649","type":"print"},{"value":"1741-3176","type":"electronic"}],"subject":[],"published":{"date-parts":[[2006,11]]}}}