Passivity-Based Visual Feedback Control

This chapter extends the results of the previous chapter to visual feedback camera control. The kinematic camera control problem is first investigated, and the control objective is proved to be achieved by using passivity. The framework is further extended to dynamic visual feedback control in the eye-in-hand configuration. There, the robot manipulator dynamics, known to be passive, is connected to the present visual feedback system via feedback connection. The preservation property of passivity allows us to analyze the stability and tracking performance of the resultant control system.