Image-based dynamic visual feedback control via passivity approach

Hiroyuki Kawai, Toshiyuki Murao, Masayuki Fujita

研究成果: Conference contribution

2 引用 (Scopus)

抄録

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.

元の言語English
ホスト出版物のタイトルProceedings of the IEEE International Conference on Control Applications
ページ740-745
ページ数6
DOI
出版物ステータスPublished - 2007
イベントJoint 2006 IEEE Conference on Control Applications (CCA), Computer-Aided Control Systems Design Symposium (CACSD) and International Symposium on Intelligent Control (ISIC) - Munich
継続期間: 2006 10 42006 10 6

Other

OtherJoint 2006 IEEE Conference on Control Applications (CCA), Computer-Aided Control Systems Design Symposium (CACSD) and International Symposium on Intelligent Control (ISIC)
Munich
期間06/10/406/10/6

Fingerprint

Visual servoing
Feedback control
Feedback
System theory
Manipulators

ASJC Scopus subject areas

  • Engineering(all)

これを引用

Kawai, H., Murao, T., & Fujita, M. (2007). Image-based dynamic visual feedback control via passivity approach. : Proceedings of the IEEE International Conference on Control Applications (pp. 740-745). [4067321] https://doi.org/10.1109/CCA.2006.285962

Image-based dynamic visual feedback control via passivity approach. / Kawai, Hiroyuki; Murao, Toshiyuki; Fujita, Masayuki.

Proceedings of the IEEE International Conference on Control Applications. 2007. p. 740-745 4067321.

研究成果: Conference contribution

Kawai, H, Murao, T & Fujita, M 2007, Image-based dynamic visual feedback control via passivity approach. : 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
Kawai H, Murao T, Fujita M. Image-based dynamic visual feedback control via passivity approach. : Proceedings of the IEEE International Conference on Control Applications. 2007. p. 740-745. 4067321 https://doi.org/10.1109/CCA.2006.285962
Kawai, Hiroyuki ; Murao, Toshiyuki ; Fujita, Masayuki. / Image-based dynamic visual feedback control via passivity approach. Proceedings of the IEEE International Conference on Control Applications. 2007. pp. 740-745
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