Passivity-based dynamic visual feedback control for three dimensional target tracking: stability and L/sub 2/-gain performance analysis

This paper investigates vision-based robot control based on the passivity for the three dimensional target tracking. Firstly, the fundamental representation between the moving target object and the camera is derived from the relation among the three coordinate frames. Next, we consider the observer which is reproduced from the fundamental representation of relative rigid body motion just as Luenberger observer for linear systems. Then, the relationship between the estimation error in the 3D workspace and in the image plane is established. Secondly, we derive the passivity of the dynamic visual feedback system by combining the passivity of both the visual feedback system and the manipulator dynamics. The stability via Lyapunov method for the full 3D dynamic visual feedback system is discussed based on the passivity. Finally, the L/sub 2/-gain performance analysis for the disturbance attenuation problem is considered via the dissipative systems theory.