Passivity-Based Dynamic Visual Feedback Control for Three-Dimensional Target Tracking: Stability and $L_{2}$-Gain Performance Analysis
- 26 December 2006
- journal article
- Published by Institute of Electrical and Electronics Engineers (IEEE) in IEEE Transactions on Control Systems Technology
- Vol. 15 (1), 40-52
- https://doi.org/10.1109/tcst.2006.883236
Abstract
This paper investigates vision-based robot control based on passivity for three-dimensional (3-D) target tracking. First, using standard body-attached coordinate frames (the world frame, camera frame, and object frame), we represent the relative position and orientation between a moving target and a camera as an element of SE(3). Using this representation we derive a nonlinear observer to estimate the relative rigid body motion from the measured camera data. We then establish the relationship between the estimation error in a 3-D workspace and in the image plane. We show passivity of the 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 for the full 3-D dynamic visual feedback system. The L2 -gain performance analysis, which deals with the disturbance attenuation problem, is then considered via dissipative systems theory. Finally, experimental results are presented to verify the stability and L2-gain performance of the dynamic visual feedback systemKeywords
This publication has 26 references indexed in Scilit:
- Keeping Features in the Field of View in Eye-In-Hand Visual Servoing: A Switching ApproachIEEE Transactions on Robotics, 2004
- Adaptive H/sub ∞/-control for robust visual feedback systemsPublished by Institute of Electrical and Electronics Engineers (IEEE) ,2002
- Vision-based nonlinear tracking controllers with uncertain robot-camera parametersIEEE/ASME Transactions on Mechatronics, 2001
- A new partitioned approach to image-based visual servo controlIEEE Transactions on Robotics and Automation, 2001
- Adaptive calibration and control of 2D monocular visual servo systemsControl Engineering Practice, 1999
- On nonlinear control of Euler-Lagrange systems: Disturbance attenuation propertiesSystems & Control Letters, 1997
- Adaptive disturbance attenuation with global stability for rigid and elastic joint robotsAutomatica, 1997
- Robust control for planar manipulators with image feature parameter potentialAdvanced Robotics, 1997
- Another language for describing motions of mechatronics systems: a nonlinear position-dependent circuit theoryIEEE/ASME Transactions on Mechatronics, 1996
- Robust asymptotically stable visual servoing of planar robotsIEEE Transactions on Robotics and Automation, 1996