Unified Passivity-Based Visual Control for Moving Object Tracking

Abstract

In this chapter, a unified passivity-based visual servoing control structure con-sidering a vision system mounted on the robot, is presented. This controller, is suit-able to be applied for robotic arms, mobile robots as well as for mobile manipula-tors. 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 con-trol system and considering exact knowledge of the target?s velocity, the asymptotic convergence to zero of the control errors are proved. Later, it is carried a robustness analysis out based on 2-gain performance, hence proving that control errors are ultimately bounded even when there exist bounded errors 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 in a mobile manipulator.