Passivity-based control and estimation of dynamic visual feedback systems with a fixed camera

This paper deals with the control and the estimation of dynamic visual feedback systems with a fixed camera. Specifically, we consider the target tracking problem of dynamic visual feedback systems in the three dimensional (3D) workspace. Firstly the visual feedback system with four coordinate frames is established by using the homogeneous representation and adjoint transformation. Secondly we derive the passivity of the dynamic visual feedback system by combining the manipulator dynamics and the visual feedback system. Based on the passivity, stability and L₂-gain performance analysis are discussed. Finally simulation results are shown to verify the stability and L₂-gain performance of the dynamic visual feedback system.