Passivity-based control and estimation of dynamic visual feedback systems with a fixed camera

Hiroyuki Kawai, Toshiyuki Murao, Masayuki Fujita

    Research output: Contribution to journalArticle

    6 Citations (Scopus)

    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 languageEnglish
    Pages (from-to)4022-4027
    Number of pages6
    JournalUnknown Journal
    Volume4
    Publication statusPublished - 2004

    ASJC Scopus subject areas

    • Control and Systems Engineering
    • Safety, Risk, Reliability and Quality
    • Chemical Health and Safety

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