Abstract
This paper deals with the control and the estimation of dynamic visual feedback systems with a fixed camera. Specifically, we consider the target tracking problem of dynamic visual feedback systems in the three dimensional(3D) workspace. Firstly the visual feedback system with four coordinate frames is established by using the homogeneous representation and adjoint transformation. Secondly we derive the passivity of the dynamic visual feedback system by combining the manipulator dynamics and the visual feedback system. Based on the passivity, stability and L2-gain performance analysis are discussed. Finally simulation results are shown to verify the stability and L 2-gain performance of the dynamic visual feedback system.
| Original language | English |
|---|---|
| Pages (from-to) | 4022-4027 |
| Number of pages | 6 |
| Journal | Unknown Journal |
| Volume | 4 |
| Publication status | Published - 2004 |
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ASJC Scopus subject areas
- Control and Systems Engineering
- Safety, Risk, Reliability and Quality
- Chemical Health and Safety
Cite this
Passivity-based control and estimation of dynamic visual feedback systems with a fixed camera. / Kawai, Hiroyuki; Murao, Toshiyuki; Fujita, Masayuki.
In: Unknown Journal, Vol. 4, 2004, p. 4022-4027.Research output: Contribution to journal › Article
}
TY - JOUR
T1 - Passivity-based control and estimation of dynamic visual feedback systems with a fixed camera
AU - Kawai, Hiroyuki
AU - Murao, Toshiyuki
AU - Fujita, Masayuki
PY - 2004
Y1 - 2004
N2 - This paper deals with the control and the estimation of dynamic visual feedback systems with a fixed camera. Specifically, we consider the target tracking problem of dynamic visual feedback systems in the three dimensional(3D) workspace. Firstly the visual feedback system with four coordinate frames is established by using the homogeneous representation and adjoint transformation. Secondly we derive the passivity of the dynamic visual feedback system by combining the manipulator dynamics and the visual feedback system. Based on the passivity, stability and L2-gain performance analysis are discussed. Finally simulation results are shown to verify the stability and L 2-gain performance of the dynamic visual feedback system.
AB - This paper deals with the control and the estimation of dynamic visual feedback systems with a fixed camera. Specifically, we consider the target tracking problem of dynamic visual feedback systems in the three dimensional(3D) workspace. Firstly the visual feedback system with four coordinate frames is established by using the homogeneous representation and adjoint transformation. Secondly we derive the passivity of the dynamic visual feedback system by combining the manipulator dynamics and the visual feedback system. Based on the passivity, stability and L2-gain performance analysis are discussed. Finally simulation results are shown to verify the stability and L 2-gain performance of the dynamic visual feedback system.
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UR - http://www.scopus.com/inward/citedby.url?scp=14244262211&partnerID=8YFLogxK
M3 - Article
AN - SCOPUS:14244262211
VL - 4
SP - 4022
EP - 4027
JO - Nuclear Physics A
JF - Nuclear Physics A
SN - 0375-9474
ER -