Image-based visual servo control using the port-Hamiltonian Approach

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Abstract

This work is devoted to an image-based visual servo control strategy for standard mechanical systems in the port-Hamiltonian framework. We utilize a change of variables that transforms the port-Hamiltonian system into one with constant mass-inertia matrix, and we use an interaction matrix that includes the depth information together with the image features variables of the image plane. We develop a control strategy that renders a closed-loop system that is port-Hamiltonian. The introduced approach is applied to a two degrees of freedom robot arm problem, and simulation results are provided.
Original languageEnglish
Title of host publicationProceedings IFAC Workshop on Lagrangian and Hamiltonian Methods in Nonlinear Control, Lyon, France
PublisherIFAC
Pages105-110
Number of pages6
Publication statusPublished - 4-Jul-2015
Event 5th IFAC Workshop on Lagrangian and Hamiltonian Methods for Non Linear Control (Lyon, France, 4 – 7 July 2015 - Lyon, France
Duration: 4-Jul-20157-Jul-2015

Conference

Conference 5th IFAC Workshop on Lagrangian and Hamiltonian Methods for Non Linear Control (Lyon, France, 4 – 7 July 2015
CountryFrance
CityLyon
Period04/07/201507/07/2015

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