Control and Estimation of Visual Feedback Systems with a Fixed Camera for Trajectory Tracking Problems
نویسنده
چکیده
This paper deals with the control and the estimation of the visual feedback systems with a fixed camera. Firstly the fundamental representation and the nonlinear observer for the visual feedback system with four coordinate frames is established. Secondly the visual feedback system is composed by the control error system and the estimation error system. Next, we derive the passivity of the visual feedback system. Finally, stability and L2-gain performance analysis are discussed based on the passivity.
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