Passivity-based Visual Feedback Control of Nonlinear Mechanical Systems
Akira MARUYAMA, Hiroyuki KAWAI, Masayuki FUJITA
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.