A port-Hamiltonian approach to visual servo control of a pick and place system

Authors

Daniel A. Dirksz, Jacquelien M.A. Scherpen

Abstract

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. We realize a closed-loop system, including the nonlinear camera dynamics, which is port-Hamiltonian. Although the closed-loop system is nonlinear, the resulting controller is a PD-type controller which only requires the camera states. From the passivity property of port-Hamiltonian systems we then derive conditions for exponential stability of the closed-loop system, which are used to tune the PD controller gains. © 2012 IEEE.

Citation

• Journal: 2012 IEEE 51st IEEE Conference on Decision and Control (CDC)
• Year: 2012
• Volume:
• Issue:
• Pages: 5661–5666
• Publisher: IEEE
• DOI: 10.1109/cdc.2012.6426422

BibTeX

@inproceedings{Dirksz_2012,
  title={{A port-Hamiltonian approach to visual servo control of a pick and place system}},
  DOI={10.1109/cdc.2012.6426422},
  booktitle={{2012 IEEE 51st IEEE Conference on Decision and Control (CDC)}},
  publisher={IEEE},
  author={Dirksz, Daniel A. and Scherpen, Jacquelien M.A.},
  year={2012},
  pages={5661--5666}
}

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