A port-Hamiltonian approach to visual servo control of a pick and place system

In this paper we take a port-Hamiltonian approach to address the problem of image-based visual servo control of a pick and place system. We realize a closed-loop system, including the nonlinear camera dynamics, which is port-Hamiltonian. Although the closed-loop system is nonlinear, the resulting controller is a PD-type controller which only requires the camera states. From the passivity property of port-Hamiltonian systems we then derive conditions for exponential stability of the closed-loop system, which are used to tune the PD controller gains.