A Robust Visual Servoing Controller for Anthropomorphic Manipulators With Fieldof-View Constraints and Swivel-Angle Motion Overcoming System Uncertainty and Improving Control Performance By Jiao Jiang , Yaonan Wang , Yiming Jiang , He Xie , Haoran Tan , and Hui Zhang H uman-robot collaboration has attracted significant attention in the industry due to the flexibility of humans and the accuracy of robots. Humanoid control of anthropomorphic robotic arms combined with visual servoing will enhance the intelligence of industrial robots. However, the robotic manipulator will introduce psychological Digital Object Identifier 10.1109/MRA.2022.3198368 Date of current version: 26 August 2022 104 * IEEE ROBOTICS & AUTOMATION MAGAZINE * DECEMBER 2022 discomfort to nearby humans, and the loss of visual features will induce visual servoing task failure. Aiming at these problems, this article proposes a humanoid control method based on visual servoing by utilizing the swivel angle derived from the human arm to realize the humanlike behavior of anthropomorphic robot manipulators. To advance the visual servoing control performance, a function constraint is designed with the barrier Lyapunov function (BLF) to ensure that image features stay within the field of view (FoV). The sliding mode control (SMC) is 1070-9932/22©2022IEEE ©SHUTTERSTOCK.COM/WILLYAM BRADBERRYhttps://orcid.org/0000-0002-4368-2959 https://orcid.org/0000-0002-0519-6458 https://orcid.org/0000-0001-5963-2932 https://orcid.org/0000-0003-3736-5508 https://orcid.org/0000-0003-4127-8896 https://orcid.org/0000-0002-1803-3148 http://www.SHUTTERSTOCK.COM/WILLYAM