Passivity-Based Dynamic Visual Feedback Control for Three-Dimensional Target Tracking: Stability and $L_{2}$-Gain Performance Analysis
Passivity-Based Dynamic Visual Feedback Control for Three-Dimensional Target Tracking: Stability and $L_{2}$-Gain Performance Analysis
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DOI：
10.1109/tcst.2006.883236
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发表时间：
2007
影响因子：
4.8
通讯作者：
M. Fujita;H. Kawai;M. Spong
中科院分区：
文献类型：
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作者：
M. Fujita;H. Kawai;M. Spong
研究了基于无源性的机器人三维目标跟踪的视觉控制。首先，使用标准的物体附加坐标帧（世界帧、相机帧和物体帧），我们将运动目标和相机之间的相对位置和方向表示为SE(3)的元素。利用这种表示，我们导出了一个非线性观测器来估计相对刚体运动。然后，我们建立了三维工作空间和像面上的估计误差之间的关系。我们通过结合视觉反馈系统和机械臂动力学的被动性来证明动态视觉反馈系统的被动性，从而证明了全三维动态视觉反馈系统在Lyapunov意义上的稳定性。然后，通过耗散系统理论考虑了处理干扰衰减问题的L2增益性能分析。最后给出了实验结果，验证了动态视觉反馈系统的稳定性和l2增益性能
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