NDLI: Passivity-based control and estimation of dynamic visual feedback systems with a fixed camera

Content Provider	IEEE Xplore Digital Library
Author	Kawai, H. Murao, T. Fujita, M.
Copyright Year	2004
Description	Author affiliation: Inf. Technol. Res. Center, Hosei Univ., Tokyo, Japan (Kawai, H.)
Abstract	This paper deals with the control and the estimation of dynamic visual feedback systems with a fixed camera. Specifically, we consider the target tracking problem of dynamic visual feedback systems in the three dimensional (3D) workspace. Firstly the visual feedback system with four coordinate frames is established by using the homogeneous representation and adjoint transformation. Secondly 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 L/sub 2/-gain performance analysis are discussed. Finally simulation results are shown to verify the stability and L/sub 2/-gain performance of the dynamic visual feedback system.
Starting Page	4022
Ending Page	4027
File Size	376301
Page Count	6
File Format	PDF
ISBN	0780386825
ISSN	01912216
DOI	10.1109/CDC.2004.1429381
Language	English
Publisher	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Publisher Date	2004-12-14
Publisher Place	Bahamas
Access Restriction	Subscribed
Rights Holder	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Subject Keyword	Control systems Cameras Manipulator dynamics Robot kinematics Robot vision systems Target tracking Stability Feedback control Intelligent robots Machine intelligence
Content Type	Text
Resource Type	Article

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