Image-based dynamic visual feedback control via passivity approach

Abstract

This paper deals with the image-based dynamic visual feedback control via the passivity approach which is investigated in the position-based one. We construct an energy function using the error in the image plane. The passivity of the visual feedback system is derived from the energy function. We show passivity of the image-based 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. The L <sub xmlns:mml="http://www.w3.org/1998/Math/MathML" xmlns:xlink="http://www.w3.org/1999/xlink">2</sub> -gain performance analysis, which deals with the disturbance attenuation problem, is then considered via dissipative systems theory. This paper suggests that the two types of classical visual servoing, i.e. the image-based visual servoing and the position-based visual servoing, can be discussed with the same strategy