Passivity-based visual feedback control with dynamic compensation of mobile manipulators: Stability and L 2-gain performance analysis

Víctor H. Andaluz; Flavio Roberti; Lucio Salinas; Juan M. Toibero; Ricardo Carelli

doi:10.1016/j.robot.2014.12.009

Passivity-based visual feedback control with dynamic compensation of mobile manipulators: Stability and ^{L 2}-gain performance analysis

Víctor H. Andaluz^*
, Flavio Roberti
, Lucio Salinas
, Juan M. Toibero
, Ricardo Carelli

^*Corresponding author for this work

Research output: Contribution to journal › Article (Academic Journal) › peer-review

16 Citations (Scopus)

Abstract

This paper addresses the problem of visual dynamic control based on passivity to solve the target tracking problem of mobile manipulators with eyes-in-hand configuration in the 3D-workspace. The redundancy of the system is used for obstacles avoidance and singular configuration prevention through the system's manipulability control. The design of the stable control system is based on its passivity properties. A robustness analysis and an ^L2-gain performance analysis are also presented. Finally, simulation and experimental results are reported to verify the stability and ^L2-gain performance of the dynamic visual feedback system.

Original language	English
Pages (from-to)	64-74
Number of pages	11
Journal	Robotics and Autonomous Systems
Volume	66
DOIs	https://doi.org/10.1016/j.robot.2014.12.009
Publication status	Published - 1 Apr 2015

Bibliographical note

Funding Information:
Authors thanks to Consejo Nacional de Investigaciones Científicas y Técnicas of Argentina (CONICET) , PIP2012-2014 N 11220110100223 ; Ministerio de Ciencia e Innovación of Spain, DPI2010-20863 ; and Universidad Nacional de San Juan of Argentina , UNSJ2014-2015 N 21I-267 , for partially supporting this research.

Publisher Copyright:
© 2015 Elsevier B.V.

Keywords

Mobile manipulator
Non-linear control
Passivity based control
Visual servoing

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Cite this

@article{9508a81880834bb8b0efeab8c148c517,

title = "Passivity-based visual feedback control with dynamic compensation of mobile manipulators: Stability and L 2-gain performance analysis",

abstract = "This paper addresses the problem of visual dynamic control based on passivity to solve the target tracking problem of mobile manipulators with eyes-in-hand configuration in the 3D-workspace. The redundancy of the system is used for obstacles avoidance and singular configuration prevention through the system's manipulability control. The design of the stable control system is based on its passivity properties. A robustness analysis and an L2-gain performance analysis are also presented. Finally, simulation and experimental results are reported to verify the stability and L2-gain performance of the dynamic visual feedback system.",

keywords = "Mobile manipulator, Non-linear control, Passivity based control, Visual servoing",

author = "Andaluz, \{V{\'i}ctor H.\} and Flavio Roberti and Lucio Salinas and Toibero, \{Juan M.\} and Ricardo Carelli",

note = "Funding Information: Authors thanks to Consejo Nacional de Investigaciones Cient{\'i}ficas y T{\'e}cnicas of Argentina (CONICET) , PIP2012-2014 N 11220110100223 ; Ministerio de Ciencia e Innovaci{\'o}n of Spain, DPI2010-20863 ; and Universidad Nacional de San Juan of Argentina , UNSJ2014-2015 N 21I-267 , for partially supporting this research. Publisher Copyright: {\textcopyright} 2015 Elsevier B.V.",

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doi = "10.1016/j.robot.2014.12.009",

language = "English",

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T2 - Stability and L 2-gain performance analysis

AU - Andaluz, Víctor H.

AU - Roberti, Flavio

AU - Salinas, Lucio

AU - Toibero, Juan M.

AU - Carelli, Ricardo

N1 - Funding Information: Authors thanks to Consejo Nacional de Investigaciones Científicas y Técnicas of Argentina (CONICET) , PIP2012-2014 N 11220110100223 ; Ministerio de Ciencia e Innovación of Spain, DPI2010-20863 ; and Universidad Nacional de San Juan of Argentina , UNSJ2014-2015 N 21I-267 , for partially supporting this research. Publisher Copyright: © 2015 Elsevier B.V.

PY - 2015/4/1

Y1 - 2015/4/1

N2 - This paper addresses the problem of visual dynamic control based on passivity to solve the target tracking problem of mobile manipulators with eyes-in-hand configuration in the 3D-workspace. The redundancy of the system is used for obstacles avoidance and singular configuration prevention through the system's manipulability control. The design of the stable control system is based on its passivity properties. A robustness analysis and an L2-gain performance analysis are also presented. Finally, simulation and experimental results are reported to verify the stability and L2-gain performance of the dynamic visual feedback system.

AB - This paper addresses the problem of visual dynamic control based on passivity to solve the target tracking problem of mobile manipulators with eyes-in-hand configuration in the 3D-workspace. The redundancy of the system is used for obstacles avoidance and singular configuration prevention through the system's manipulability control. The design of the stable control system is based on its passivity properties. A robustness analysis and an L2-gain performance analysis are also presented. Finally, simulation and experimental results are reported to verify the stability and L2-gain performance of the dynamic visual feedback system.

KW - Mobile manipulator

KW - Non-linear control

KW - Passivity based control

KW - Visual servoing

UR - https://www.scopus.com/pages/publications/84925329357

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DO - 10.1016/j.robot.2014.12.009

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AN - SCOPUS:84925329357

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JO - Robotics and Autonomous Systems

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