A visual servo control based on geometric algebra

This paper presents a new visual servo controller based on geometric algebra (GA). The controller has an angular and translational components that are designed using rotors and translators. The controller does not require additional calculations or jacobian-like matrices. The proposed adaptive controller regulates a camera to a desired position and orientation from a desired image. Lastly, we develop a GA-based Lyapunov function to demonstrate the stability of the controller and we present simulations validating the proposed controller. © 2011 IEEE