Passivity-based dynamic visual feedback control with uncertainty of camera coordinate frame
Passivity-based dynamic visual feedback control with uncertainty of camera coordinate frame
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DOI：
10.1109/acc.2005.1470550
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发表时间：
2005-06
期刊：
影响因子：
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通讯作者：
H. Kawai;T. Murao;M. Fujita
中科院分区：
文献类型：
--
作者：
H. Kawai;T. Murao;M. Fujita
本文在无源性的基础上，考虑了摄像机坐标系不确定性的动态视觉反馈控制。首先简要总结了固定摄像机视觉反馈系统的基本概念，并给出了相对刚体运动的基本表示。其次，构建了不确定性视觉反馈系统，该系统不限于光轴周围的方向。其次，将机械臂动力学与视觉反馈系统相结合，导出了动态视觉反馈系统的无源性。在无源性、稳定性和L/sub 2/增益性能分析的基础上进行了讨论。最后通过仿真结果的对比，验证了所提控制律的有效性。
In this paper, we consider the dynamic visual feedback control with the uncertainty of the camera coordinate frame based on the passivity. Firstly the brief summary of the nominal visual feedback systems with a fixed camera is given with the fundamental representation of a relative rigid body motion. Secondly we construct the visual feedback system with uncertainty which is not be limited to the orientation around the optical axis. Next, 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 the validity of the proposed control law can be confirmed by comparing the simulation results.