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

Hiroyuki Kawai*, Toshiyuki Murao, Masayuki Fujita

*この研究の対応する著者

    研究成果査読

    6 被引用数 (Scopus)

    抄録

    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.

    本文言語English
    ページ(範囲)4022-4027
    ページ数6
    ジャーナルUnknown Journal
    4
    出版ステータスPublished - 2004

    ASJC Scopus subject areas

    • 制御およびシステム工学
    • 安全性、リスク、信頼性、品質管理
    • 化学的な安全衛生

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