Title :
Image-based dynamic visual feedback control via passivity approach
Author :
Kawai, Hiroyuki ; Murao, Toshiyuki ; Fujita, Masayuki
Author_Institution :
Dept. of Robotics, Kanazawa Intitute of Technol., Ishikawa
Abstract :
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
Keywords :
Lyapunov methods; feedback; manipulator dynamics; stability; visual servoing; Lyapunov stability; dissipative system; energy function; image-based dynamic visual feedback control; manipulator dynamics; passivity; visual servoing; Cameras; Control systems; Feedback control; Manipulator dynamics; Orbital robotics; Performance analysis; Robot vision systems; Stability; Target tracking; Visual servoing;
Conference_Titel :
Computer Aided Control System Design, 2006 IEEE International Conference on Control Applications, 2006 IEEE International Symposium on Intelligent Control, 2006 IEEE
Conference_Location :
Munich
Print_ISBN :
0-7803-9797-5
Electronic_ISBN :
0-7803-9797-5
DOI :
10.1109/CACSD-CCA-ISIC.2006.4776738