{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2025,10,11]],"date-time":"2025-10-11T02:25:17Z","timestamp":1760149517880,"version":"build-2065373602"},"reference-count":33,"publisher":"MDPI AG","issue":"16","license":[{"start":{"date-parts":[[2023,8,11]],"date-time":"2023-08-11T00:00:00Z","timestamp":1691712000000},"content-version":"vor","delay-in-days":0,"URL":"https:\/\/creativecommons.org\/licenses\/by\/4.0\/"}],"funder":[{"name":"key research and development projects in Tianjin","award":["19YFZCSN00360"],"award-info":[{"award-number":["19YFZCSN00360"]}]}],"content-domain":{"domain":[],"crossmark-restriction":false},"short-container-title":["Sensors"],"abstract":"<jats:p>Aiming at the time-varying uncertainties of robot and camera models in IBUVS (image-based uncalibrated visual servo) systems, a finite-time adaptive controller is proposed based on the depth-independent Jacobian matrix. Firstly, the adaptive law of depth parameters, kinematic parameters, and dynamic parameters is proposed for the uncertainty of a robot model and a camera model. Secondly, a finite-time adaptive controller is designed by using a nonlinear proportional differential plus a dynamic feedforward compensation structure. By applying a continuous non-smooth nonlinear function to the feedback error, the control quality of the closed-loop system is improved, and the desired trajectory of the image is tracked in finite time. Finally, using the Lyapunov stability theory and the finite-time stability theory, the global finite-time stability of the closed-loop system is proven. The experimental results show that the proposed controller can not only adapt to the changes in the EIH and ETH visual configurations but also adapt to the changes in the relative pose of feature points and the camera\u2019s relative pose parameters. At the same time, the convergence rate near the equilibrium point is improved, and the controller has good dynamic stability.<\/jats:p>","DOI":"10.3390\/s23167133","type":"journal-article","created":{"date-parts":[[2023,8,11]],"date-time":"2023-08-11T12:10:30Z","timestamp":1691755830000},"page":"7133","update-policy":"https:\/\/doi.org\/10.3390\/mdpi_crossmark_policy","source":"Crossref","is-referenced-by-count":2,"title":["Design of A Finite-Time Adaptive Controller for Image-Based Uncalibrated Visual Servo Systems with Uncertainties in Robot and Camera Models"],"prefix":"10.3390","volume":"23","author":[{"given":"Zhuoqun","family":"Zhao","sequence":"first","affiliation":[{"name":"School of Electrical and Information Engineering, Tianjin University, Tianjin 300072, China"},{"name":"School of Mechanical Engineering, Tianjin Sino-German University of Applied Sciences, Tianjin 300350, China"}],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Jiang","family":"Wang","sequence":"additional","affiliation":[{"name":"School of Electrical and Information Engineering, Tianjin University, Tianjin 300072, China"}],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Hui","family":"Zhao","sequence":"additional","affiliation":[{"name":"School of Electrical Engineering and Automation, Tianjin University of Technology, Tianjin 300384, China"}],"role":[{"role":"author","vocabulary":"crossref"}]}],"member":"1968","published-online":{"date-parts":[[2023,8,11]]},"reference":[{"key":"ref_1","doi-asserted-by":"crossref","first-page":"107584","DOI":"10.1016\/j.compag.2022.107584","article-title":"Vision-based navigation and guidance for agricultural autonomous vehicles and robots: A review","volume":"205","author":"Bai","year":"2023","journal-title":"Comput. 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