A Port‐<scp>H</scp>amiltonian Approach to Visual Servo Control of a Pick and Place System

Authors

Daniel A. Dirksz, Jacquelien M.A. Scherpen, Maarten Steinbuch

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. 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.

Citation

• Journal: Asian Journal of Control
• Year: 2014
• Volume: 16
• Issue: 3
• Pages: 703–713
• Publisher: Wiley
• DOI: 10.1002/asjc.909

BibTeX

@article{Dirksz_2014,
  title={{A Port‐<scp>H</scp>amiltonian Approach to Visual Servo Control of a Pick and Place System}},
  volume={16},
  ISSN={1934-6093},
  DOI={10.1002/asjc.909},
  number={3},
  journal={Asian Journal of Control},
  publisher={Wiley},
  author={Dirksz, Daniel A. and Scherpen, Jacquelien M.A. and Steinbuch, Maarten},
  year={2014},
  pages={703--713}
}

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References

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