Paper Info
Title
Passivity-Based Visual Feedback Control For An Endpoint Closed-Loop System With A Movable Camera
Abstract
This paper presents passivity-based visual feedback control for an endpoint closed-loop system with a movable camera. The objective of the system is that a controlled mobile vehicle tracks a target object vehicle by using only aerial vehicle's visual information. First, a brief summary of the estimation and pose error systems for the camera-mounted aerial vehicle is presented. Second, we design a novel nonlinear observer to estimate the pose of the controlled mobile vehicle. Next, we propose a visual feedback control law for the constructed visual motion error system based on the passivity. After discussing stability analysis of the closed-loop system through Lyapunov stability theorem, simulation results are provided to illustrate the performance of the proposed control method.
Year
DOI
Venue
2018
10.1109/IECON.2018.8591582
IECON 2018 - 44TH ANNUAL CONFERENCE OF THE IEEE INDUSTRIAL ELECTRONICS SOCIETY
Keywords
Field
DocType
visual feedback control, passivity, stability, eye-to-hand configuration, movable camera
Passivity,Mobile vehicle,Control theory,Visualization,Nonlinear observer,Lyapunov stability,Control engineering,Visual motion,Engineering,Control system,Robot vision systems
Conference
ISSN
Citations 
PageRank 
1553-572X
0
0.34
References 
Authors
0
3
Name
Order
Citations
PageRank
Mamoru Kuroda100.34
Toshiyuki Murao2186.80
Hiroyuki Kawai3279.11