Image-based dynamic visual feedback control via passivity approach

Hiroyuki Kawai; Toshiyuki Murao; Masayuki Fujita

doi:10.1109/CCA.2006.285962

Image-based dynamic visual feedback control via passivity approach

Hiroyuki Kawai^*, Toshiyuki Murao, Masayuki Fujita

^*Corresponding author for this work

Waseda Research Institute for Science and Engineering

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution

2 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 language	English
Title of host publication	Proceedings of the IEEE International Conference on Control Applications
Pages	740-745
Number of pages	6
DOIs	https://doi.org/10.1109/CCA.2006.285962
Publication status	Published - 2007
Event	Joint 2006 IEEE Conference on Control Applications (CCA), Computer-Aided Control Systems Design Symposium (CACSD) and International Symposium on Intelligent Control (ISIC) - Munich Duration: 2006 Oct 4 → 2006 Oct 6

Other

Other	Joint 2006 IEEE Conference on Control Applications (CCA), Computer-Aided Control Systems Design Symposium (CACSD) and International Symposium on Intelligent Control (ISIC)
City	Munich
Period	06/10/4 → 06/10/6

ASJC Scopus subject areas

Engineering(all)

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10.1109/CCA.2006.285962

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Kawai, H, Murao, T & Fujita, M 2007, Image-based dynamic visual feedback control via passivity approach. in Proceedings of the IEEE International Conference on Control Applications., 4067321, pp. 740-745, Joint 2006 IEEE Conference on Control Applications (CCA), Computer-Aided Control Systems Design Symposium (CACSD) and International Symposium on Intelligent Control (ISIC), Munich, 06/10/4. https://doi.org/10.1109/CCA.2006.285962

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title = "Image-based dynamic visual feedback control via passivity approach",

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.",

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AB - 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.

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Image-based dynamic visual feedback control via passivity approach

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