Paper Info
Title
Passivity-Based Dynamic Visual Feedback Control for Three-Dimensional Target Tracking: Stability and L2-Gain Performance Analysis
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 system
Year
DOI
Venue
2007
10.1109/TCST.2006.883236
Control Systems Technology, IEEE Transactions
Keywords
DocType
Volume
Lyapunov methods,feedback,manipulator dynamics,observers,robot vision,stability analysis,target tracking,Lyapunov stability,gain performance analysis,manipulator dynamics,nonlinear observer,passivity-based control,passivity-based dynamic visual feedback control,standard body-attached coordinate frames,three-dimensional target tracking,vision-based robot control,$L_{2}$ -gain performance analysis,Lyapunov stability,manipulator dynamics,passivity-based control,visual feedback control
Journal
15
Issue
ISSN
Citations 
1
1063-6536
2
PageRank 
References 
Authors
0.37
0
3
Name
Order
Citations
PageRank
Masayuki Fujita1930103.37
Hiroyuki Kawai2279.11
Spong, M.W.3706154.32