Image-based dynamic visual feedback control via passivity approach

Hiroyuki Kawai, Toshiyuki Murao, Masayuki Fujita

Research output: Chapter in Book/Report/Conference proceedingConference contribution

8 Citations (Scopus)

Abstract

This paper deals with the image-based dynamic visual feedback control via the passivity approach which is investigated in the position-based one. We construct an energy function using the error in the image plane. The passivity of the visual feedback system is derived from the energy function. We show passivity of the image-based dynamic visual feedback system by combining the passivity of both the visual feedback system and the manipulator dynamics which allows us to prove stability in the sense of Lyapunov. The L2-gain performance analysis, which deals with the disturbance attenuation problem, is then considered via dissipative systems theory. This paper suggests that the two types of classical visual servoing, i.e. the image-based visual servoing and the position-based visual servoing, can be discussed with the same strategy.

Original languageEnglish
Title of host publicationProceedings of the IEEE International Conference on Control Applications
Pages740-745
Number of pages6
DOIs
Publication statusPublished - 2006
Event2006 IEEE International Conference on Control Applications, CCA 2006 - Munich
Duration: 2006 Oct 42006 Oct 6

Other

Other2006 IEEE International Conference on Control Applications, CCA 2006
CityMunich
Period06/10/406/10/6

ASJC Scopus subject areas

  • Control and Systems Engineering
  • Computer Science Applications
  • Mathematics(all)

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