This paper investigates passivity-based visual feedback pose control. The objective here is to
control a vision camera pose so that it reaches a desired configuration relative to a target object moving with
a constant body velocity. For this purpose, we present a novel visual feedback control structure including a
vision-based observer with a 3D target object motion model. The resulting estimation/control error system
is proved to be passive from observer/control input to the control/estimation error output. We also prove
based on passivity-based control theory that the control objective is achieved by just closing the loop. Finally,
the effectiveness of the present control structure is demonstrated through simulation.
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