Stability and tracking performance of dynamic visual feedback control for nonlinear mechanical systems

Abstract

This paper investigates a robot motion control problem with visual information. First, the model of the relative rigid body motion and the nonlinear observer are shown in order to derive the visual feedback system. Next, a design algorithm for the 3D visual feedback control problem which contains the manipulator dynamics are considered. Finally, we discuss the stability and L/sub 2/-gain performance analysis for the 3D visual feedback system which contains the manipulator dynamics. The L/sub 2/-gain performance analysis can be regarded as a tracking performance measure for the moving target object.