Transactions of the Institute of Systems, Control and Information Engineers
Online ISSN : 2185-811X
Print ISSN : 1342-5668
ISSN-L : 1342-5668
Passivity-based Visual Feedback Control of Nonlinear Mechanical Systems
Stability and L2-Gain Performance Analysis
Akira MARUYAMA, Hiroyuki KAWAI, Masayuki FUJITA
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Keywords: visual feedback control, passivity, Lyapunov stability, L2-gain performance analysis, nonlinear control
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2002 Volume 15 Issue 12 Pages 627-635

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Abstract
This paper investigates the relative rigid body motion (positions and rotations) control problem with visual information. Firstly the model of the relative rigid body motion and the nonlinear observer are considered in order to derive the visual feedback system. Secondly stability and L2-gain performance analysis are discussed based on passivity. Finally we present simulation results to confirm the effectiveness of the proposed visual feedback control design.
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