Passivity-based dynamic visual feedback control with a movable camera

Toshiyuki Murao, Hiroyuki Kawai, Masayuki Fujita

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

2 Citations (Scopus)

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 languageEnglish
Title of host publicationIFAC Proceedings Volumes (IFAC-PapersOnline)
Pages439-444
Number of pages6
Volume16
Publication statusPublished - 2005
Event16th Triennial World Congress of International Federation of Automatic Control, IFAC 2005 - Prague
Duration: 2005 Jul 32005 Jul 8

Other

Other16th Triennial World Congress of International Federation of Automatic Control, IFAC 2005
CityPrague
Period05/7/305/7/8

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Keywords

  • Lyapunov stability
  • Mechanical systems
  • Passivity
  • Robot control
  • Visual servoing

ASJC Scopus subject areas

  • Control and Systems Engineering

Cite this

Murao, T., Kawai, H., & Fujita, M. (2005). Passivity-based dynamic visual feedback control with a movable camera. In IFAC Proceedings Volumes (IFAC-PapersOnline) (Vol. 16, pp. 439-444)