Passivity-based visual feedback control with dynamic compensation of mobile manipulators: Stability and L2 L 2 -gain performance analysis
We address the problem of visual control to solve the target tracking problem. We consider both the kinematic and dynamic models in the control system design. The design of the stable control system is based on its passivity properties. A robustness analysis and an L2 L 2 -gain performance analysis are also presented. Simulations and experimental results are shown to verify the systems performance.
mobile manipulator passivity based control non-linear control visual servoing