Passivity-based dynamic visual feedback control with uncertainty of camera coordinate frame

In this paper, we consider the dynamic visual feedback control with the uncertainty of the camera coordinate frame based on the passivity. Firstly the brief summary of the nominal visual feedback systems with a fixed camera is given with the fundamental representation of a relative rigid body motion. Secondly we construct the visual feedback system with uncertainty which is not be limited to the orientation around the optical axis. 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.