Proc. of the 51st IEEE Conference on Decision and Control
巻, 号, ページ
pp. 5655-5660
出版年月
2012年11月12日
出版者
和文:
英文:
会議名称
和文:
英文:
the 51st IEEE Conference on Decision and Control
開催地
和文:
英文:
Maui, HI
アブストラクト
This paper investigates passivity-based visual feedback
pose regulation whose objective is to control a vision
camera pose so that it reaches a desired configuration relative
to a moving target object. For this purpose, we present a
novel visual feedback control structure including a vision-based
observer called visual motion observer under the assumption
that a pattern of the target motion is available for control. We
first focus on evolution of the orientation part and the resulting
estimation/control error system is proved to be passive from
observer/control input to the estimation/control error output.
Accordingly, we also prove that the control objective is achieved
by just closing the loop. We then prove convergence of the
remaining part of the error system associated with position.
Finally, the effectiveness of the present control structure is
demonstrated through simulations.
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