Passivity-based Synchronized Visual Feedback Control for Multi-manipulator System

针对眼手多机械手系统，研究了基于无源性的同步视觉反馈控制问题。对于视觉反馈系统，由于目标物体的运动是未知的，因此很难在关节空间中明确地给出期望的轨迹。虽然以前的工作是在关节空间定义同步误差，但我们通过制作参考机械手和参考目标对象来定义工作空间中的同步误差。基于无源系统和耗散系统理论，讨论了系统的稳定性和L2增益性能分析。最后，通过仿真结果验证了所提出控制律的有效性。

This study investigates passivity-based synchronized visual feedback control for an eye-to-hand multi-manipulator system. For a visual feedback system, it is difficult that a desired trajectory in joint space is given explicitly, since motion of a target object is unknown. Although a synchronization error is defined in the joint space in previous works, we define it in work space by making a reference manipulator and reference target objects. Based on passivity and dissipative systems theory, stability and L2-gain performance analysis are discussed. Finally, validity of the proposed control law can be confirmed by simulation results.