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2020 | OriginalPaper | Chapter

12. Unified Passivity-Based Visual Control for Moving Object Tracking

Authors : Flavio Roberti, Juan Marcos Toibero, Jorge A. Sarapura, Víctor Andaluz, Ricardo Carelli, José María Sebastián

Published in: Machine Vision and Navigation

Publisher: Springer International Publishing

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Abstract

In this chapter, a unified passivity-based visual servoing control structure considering a vision system mounted on the robot is presented. This controller is suitable to be applied for robotic arms, mobile robots, as well as mobile manipulators. The proposed control law makes the robot able to perform a moving target tracking in its workspace. Taking advantage of the passivity properties of the control system and considering exact knowledge of the target velocity, the asymptotic convergence of the control errors to zero is proved. Later, a robustness analysis is carried out based on L 2-gain performance, thus proving that control errors are ultimately bounded even when bounded errors exist in the estimation of the target velocity. Both numerical simulation and experimental results illustrate the performance of the algorithm in a robotic manipulator, a mobile robot, and also a mobile manipulator.

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Appendix
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Metadata
Title
Unified Passivity-Based Visual Control for Moving Object Tracking
Authors
Flavio Roberti
Juan Marcos Toibero
Jorge A. Sarapura
Víctor Andaluz
Ricardo Carelli
José María Sebastián
Copyright Year
2020
DOI
https://doi.org/10.1007/978-3-030-22587-2_12