Abstract
This paper deals with the dynamic visual feedback control with a movable camera instead of a fixed camera in the fixed camera configuration. Firstly the brief summary of the visual feedback system with a fixed camera is given with the fundamental representation of a relative rigid body motion. Secondly we construct the new error system in order to consider the camera field of view. Next, 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 the validity of the proposed control law can be confirmed by comparing the simulation results.
| Original language | English |
|---|---|
| Title of host publication | IFAC Proceedings Volumes (IFAC-PapersOnline) |
| Pages | 439-444 |
| Number of pages | 6 |
| Volume | 16 |
| Publication status | Published - 2005 |
| Event | 16th Triennial World Congress of International Federation of Automatic Control, IFAC 2005 - Prague Duration: 2005 Jul 3 → 2005 Jul 8 |
Other
| Other | 16th Triennial World Congress of International Federation of Automatic Control, IFAC 2005 |
|---|---|
| City | Prague |
| Period | 05/7/3 → 05/7/8 |
Keywords
- Lyapunov stability
- Mechanical systems
- Passivity
- Robot control
- Visual servoing
ASJC Scopus subject areas
- Control and Systems Engineering