Performance Improvement of a Calibration-Free Visual Feedback Controller Using Lens Distortion Parameters

This study addresses performance improvement of a calibration-free visual feedback controller proposed in our previous work. In our previous work, lens distortion is compensated by robust controllers designed using the nominal model of the generalized plant model containing lens distortion parameter. In contrast, we examine the effect of the supposed nominal model which is used in robust controller design. That is, we design visual feedback controllers using artificially set nominal models from the supposed parametric models. The results of numerical simulations reveal the performance improvement of the controllers designed by our new method compared to our previous result.