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Passivity-Based Visual Feedback Control

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Passivity-Based Control and Estimation in Networked Robotics

Part of the book series: Communications and Control Engineering ((CCE))

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Abstract

This chapter extends the results of the previous chapter to visual feedback camera control. The kinematic camera control problem is first investigated, and the control objective is proved to be achieved by using passivity. The framework is further extended to dynamic visual feedback control in the eye-in-hand configuration. There, the robot manipulator dynamics, known to be passive, is connected to the present visual feedback system via feedback connection. The preservation property of passivity allows us to analyze the stability and tracking performance of the resultant control system.

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Authors and Affiliations

  1. Department of Mechanical and Control Engineering, Tokyo Institute of Technology, Tokyo, Japan

    Takeshi Hatanaka & Masayuki Fujita

  2. Department of Mechanical Engineering, University of Maryland, College Park, MD, USA

    Nikhil Chopra

  3. Erik Jonsson School of Engineering and Computer Science, Department of Electrical Engineering, University of Texas at Dallas, Richardson, TX, USA

    Mark W. Spong

Authors
  1. Takeshi Hatanaka
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  2. Nikhil Chopra
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  3. Masayuki Fujita
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  4. Mark W. Spong
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Corresponding author

Correspondence to Takeshi Hatanaka .

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© 2015 Springer International Publishing Switzerland

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Hatanaka, T., Chopra, N., Fujita, M., Spong, M.W. (2015). Passivity-Based Visual Feedback Control. In: Passivity-Based Control and Estimation in Networked Robotics. Communications and Control Engineering. Springer, Cham. https://doi.org/10.1007/978-3-319-15171-7_7

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  • DOI: https://doi.org/10.1007/978-3-319-15171-7_7

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  • Publisher Name: Springer, Cham

  • Print ISBN: 978-3-319-15170-0

  • Online ISBN: 978-3-319-15171-7

  • eBook Packages: EngineeringEngineering (R0)

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