A Port-Hamiltonian Approach to Visual Servo Control of a Pick and Place System

作者：Dirksz Daniel A^*; Scherpen Jacquelien M A; Steinbuch Maarten

来源：Asian Journal of Control, 2014, 16(3): 703-713.

DOI：10.1002/asjc.909

• Port-Hamiltonian systems
• nonlinear control
• nonlinear systems
• image-based visual servo

In this paper, we take a port-Hamiltonian approach to address the problem of image-based visual servo control of a pick and place system. Through a coordinate transformation and a passive interconnection between mechanical system and camera dynamics we realize a closed-loop system that is port-Hamiltonian. The resulting control strategy depends only on the camera states and it can be proven that the closed-loop system is also asymptotically stable. Furthermore, a region of attraction is defined for which asymptotic stability holds.

• 出版日期2014-5