Passivity-based Visual Feedback Control with Dynamic Compensation of Mobile Manipulators: Stability and L2-Gain Performance Analysis

Autores
Andaluz, Victor H.; Roberti, Flavio; Salinas, Lucio Rafael; Toibero, Juan Marcos; Carelli Albarracin, Ricardo Oscar
Año de publicación
2015
Idioma
inglés
Tipo de recurso
artículo
Estado
versión publicada
Descripción
This paper addresses the problem of visual dynamic control based on passivity to solve the target tracking problem of mobile manipulators with eyes-in-hand configuration in the 3D-workspace. The redundancy of the system is used for obstacles avoidance and singular configuration prevention through the system?s manipulability control. The design of the stable control system is based on its passivity properties. A robustness analysis and an L2-gain performance analysis are also presented. Finally, simulation and experimental results are reported to verify the stability and L2-gain performance of the dynamic visual feedback system.
Fil: Andaluz, Victor H.. Universidad Técnica de Ambato; Ecuador
Fil: Roberti, Flavio. Consejo Nacional de Investigaciones Científicas y Técnicas. Centro Científico Tecnológico San Juan. Instituto de Automática; Argentina
Fil: Salinas, Lucio Rafael. Consejo Nacional de Investigaciones Científicas y Técnicas. Centro Científico Tecnológico San Juan. Instituto de Automática; Argentina
Fil: Toibero, Juan Marcos. Consejo Nacional de Investigaciones Científicas y Técnicas. Centro Científico Tecnológico San Juan. Instituto de Automática; Argentina
Fil: Carelli Albarracin, Ricardo Oscar. Consejo Nacional de Investigaciones Científicas y Técnicas. Centro Científico Tecnológico San Juan. Instituto de Automática; Argentina
Materia
Mobile Manipulator
Passivity Based Control
Non-Linear Control
Visual Servoing
Nivel de accesibilidad
acceso abierto
Condiciones de uso
https://creativecommons.org/licenses/by-nc-nd/2.5/ar/
Repositorio
CONICET Digital (CONICET)
Institución
Consejo Nacional de Investigaciones Científicas y Técnicas
OAI Identificador
oai:ri.conicet.gov.ar:11336/6633
Acceder
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oai_identifier_str oai:ri.conicet.gov.ar:11336/6633
network_acronym_str CONICETDig
repository_id_str 3498
network_name_str CONICET Digital (CONICET)
spelling Passivity-based Visual Feedback Control with Dynamic Compensation of Mobile Manipulators: Stability and L2-Gain Performance AnalysisAndaluz, Victor H.Roberti, FlavioSalinas, Lucio RafaelToibero, Juan MarcosCarelli Albarracin, Ricardo OscarMobile ManipulatorPassivity Based ControlNon-Linear ControlVisual Servoinghttps://purl.org/becyt/ford/2.2https://purl.org/becyt/ford/2This paper addresses the problem of visual dynamic control based on passivity to solve the target tracking problem of mobile manipulators with eyes-in-hand configuration in the 3D-workspace. The redundancy of the system is used for obstacles avoidance and singular configuration prevention through the system?s manipulability control. The design of the stable control system is based on its passivity properties. A robustness analysis and an L2-gain performance analysis are also presented. Finally, simulation and experimental results are reported to verify the stability and L2-gain performance of the dynamic visual feedback system.Fil: Andaluz, Victor H.. Universidad Técnica de Ambato; EcuadorFil: Roberti, Flavio. Consejo Nacional de Investigaciones Científicas y Técnicas. Centro Científico Tecnológico San Juan. Instituto de Automática; ArgentinaFil: Salinas, Lucio Rafael. Consejo Nacional de Investigaciones Científicas y Técnicas. Centro Científico Tecnológico San Juan. Instituto de Automática; ArgentinaFil: Toibero, Juan Marcos. Consejo Nacional de Investigaciones Científicas y Técnicas. Centro Científico Tecnológico San Juan. Instituto de Automática; ArgentinaFil: Carelli Albarracin, Ricardo Oscar. Consejo Nacional de Investigaciones Científicas y Técnicas. Centro Científico Tecnológico San Juan. Instituto de Automática; ArgentinaElsevier2015-02info:eu-repo/semantics/articleinfo:eu-repo/semantics/publishedVersionhttp://purl.org/coar/resource_type/c_6501info:ar-repo/semantics/articuloapplication/pdfapplication/pdfapplication/pdfapplication/pdfapplication/zipapplication/pdfhttp://hdl.handle.net/11336/6633Andaluz, Victor H.; Roberti, Flavio; Salinas, Lucio Rafael; Toibero, Juan Marcos; Carelli Albarracin, Ricardo Oscar; Passivity-based Visual Feedback Control with Dynamic Compensation of Mobile Manipulators: Stability and L2-Gain Performance Analysis; Elsevier; Robotics And Autonomous Systems; 66; 2-2015; 64-740921-8890enginfo:eu-repo/semantics/altIdentifier/url/http://www.sciencedirect.com/science/article/pii/S0921889014003066info:eu-repo/semantics/altIdentifier/doi/10.1016/j.robot.2014.12.009info:eu-repo/semantics/altIdentifier/doi/info:eu-repo/semantics/openAccesshttps://creativecommons.org/licenses/by-nc-nd/2.5/ar/reponame:CONICET Digital (CONICET)instname:Consejo Nacional de Investigaciones Científicas y Técnicas2025-09-10T13:21:05Zoai:ri.conicet.gov.ar:11336/6633instacron:CONICETInstitucionalhttp://ri.conicet.gov.ar/Organismo científico-tecnológicoNo correspondehttp://ri.conicet.gov.ar/oai/requestdasensio@conicet.gov.ar; lcarlino@conicet.gov.arArgentinaNo correspondeNo correspondeNo correspondeopendoar:34982025-09-10 13:21:05.541CONICET Digital (CONICET) - Consejo Nacional de Investigaciones Científicas y Técnicasfalse
dc.title.none.fl_str_mv Passivity-based Visual Feedback Control with Dynamic Compensation of Mobile Manipulators: Stability and L2-Gain Performance Analysis
title Passivity-based Visual Feedback Control with Dynamic Compensation of Mobile Manipulators: Stability and L2-Gain Performance Analysis
spellingShingle Passivity-based Visual Feedback Control with Dynamic Compensation of Mobile Manipulators: Stability and L2-Gain Performance Analysis
Andaluz, Victor H.
Mobile Manipulator
Passivity Based Control
Non-Linear Control
Visual Servoing
title_short Passivity-based Visual Feedback Control with Dynamic Compensation of Mobile Manipulators: Stability and L2-Gain Performance Analysis
title_full Passivity-based Visual Feedback Control with Dynamic Compensation of Mobile Manipulators: Stability and L2-Gain Performance Analysis
title_fullStr Passivity-based Visual Feedback Control with Dynamic Compensation of Mobile Manipulators: Stability and L2-Gain Performance Analysis
title_full_unstemmed Passivity-based Visual Feedback Control with Dynamic Compensation of Mobile Manipulators: Stability and L2-Gain Performance Analysis
title_sort Passivity-based Visual Feedback Control with Dynamic Compensation of Mobile Manipulators: Stability and L2-Gain Performance Analysis
dc.creator.none.fl_str_mv Andaluz, Victor H.
Roberti, Flavio
Salinas, Lucio Rafael
Toibero, Juan Marcos
Carelli Albarracin, Ricardo Oscar
author Andaluz, Victor H.
author_facet Andaluz, Victor H.
Roberti, Flavio
Salinas, Lucio Rafael
Toibero, Juan Marcos
Carelli Albarracin, Ricardo Oscar
author_role author
author2 Roberti, Flavio
Salinas, Lucio Rafael
Toibero, Juan Marcos
Carelli Albarracin, Ricardo Oscar
author2_role author
author
author
author
dc.subject.none.fl_str_mv Mobile Manipulator
Passivity Based Control
Non-Linear Control
Visual Servoing
topic Mobile Manipulator
Passivity Based Control
Non-Linear Control
Visual Servoing
purl_subject.fl_str_mv https://purl.org/becyt/ford/2.2
https://purl.org/becyt/ford/2
dc.description.none.fl_txt_mv This paper addresses the problem of visual dynamic control based on passivity to solve the target tracking problem of mobile manipulators with eyes-in-hand configuration in the 3D-workspace. The redundancy of the system is used for obstacles avoidance and singular configuration prevention through the system?s manipulability control. The design of the stable control system is based on its passivity properties. A robustness analysis and an L2-gain performance analysis are also presented. Finally, simulation and experimental results are reported to verify the stability and L2-gain performance of the dynamic visual feedback system.
Fil: Andaluz, Victor H.. Universidad Técnica de Ambato; Ecuador
Fil: Roberti, Flavio. Consejo Nacional de Investigaciones Científicas y Técnicas. Centro Científico Tecnológico San Juan. Instituto de Automática; Argentina
Fil: Salinas, Lucio Rafael. Consejo Nacional de Investigaciones Científicas y Técnicas. Centro Científico Tecnológico San Juan. Instituto de Automática; Argentina
Fil: Toibero, Juan Marcos. Consejo Nacional de Investigaciones Científicas y Técnicas. Centro Científico Tecnológico San Juan. Instituto de Automática; Argentina
Fil: Carelli Albarracin, Ricardo Oscar. Consejo Nacional de Investigaciones Científicas y Técnicas. Centro Científico Tecnológico San Juan. Instituto de Automática; Argentina
description This paper addresses the problem of visual dynamic control based on passivity to solve the target tracking problem of mobile manipulators with eyes-in-hand configuration in the 3D-workspace. The redundancy of the system is used for obstacles avoidance and singular configuration prevention through the system?s manipulability control. The design of the stable control system is based on its passivity properties. A robustness analysis and an L2-gain performance analysis are also presented. Finally, simulation and experimental results are reported to verify the stability and L2-gain performance of the dynamic visual feedback system.
publishDate 2015
dc.date.none.fl_str_mv 2015-02
dc.type.none.fl_str_mv info:eu-repo/semantics/article
info:eu-repo/semantics/publishedVersion
http://purl.org/coar/resource_type/c_6501
info:ar-repo/semantics/articulo
format article
status_str publishedVersion
dc.identifier.none.fl_str_mv http://hdl.handle.net/11336/6633
Andaluz, Victor H.; Roberti, Flavio; Salinas, Lucio Rafael; Toibero, Juan Marcos; Carelli Albarracin, Ricardo Oscar; Passivity-based Visual Feedback Control with Dynamic Compensation of Mobile Manipulators: Stability and L2-Gain Performance Analysis; Elsevier; Robotics And Autonomous Systems; 66; 2-2015; 64-74
0921-8890
url http://hdl.handle.net/11336/6633
identifier_str_mv Andaluz, Victor H.; Roberti, Flavio; Salinas, Lucio Rafael; Toibero, Juan Marcos; Carelli Albarracin, Ricardo Oscar; Passivity-based Visual Feedback Control with Dynamic Compensation of Mobile Manipulators: Stability and L2-Gain Performance Analysis; Elsevier; Robotics And Autonomous Systems; 66; 2-2015; 64-74
0921-8890
dc.language.none.fl_str_mv eng
language eng
dc.relation.none.fl_str_mv info:eu-repo/semantics/altIdentifier/url/http://www.sciencedirect.com/science/article/pii/S0921889014003066
info:eu-repo/semantics/altIdentifier/doi/10.1016/j.robot.2014.12.009
info:eu-repo/semantics/altIdentifier/doi/
dc.rights.none.fl_str_mv info:eu-repo/semantics/openAccess
https://creativecommons.org/licenses/by-nc-nd/2.5/ar/
eu_rights_str_mv openAccess
rights_invalid_str_mv https://creativecommons.org/licenses/by-nc-nd/2.5/ar/
dc.format.none.fl_str_mv application/pdf
application/pdf
application/pdf
application/pdf
application/zip
application/pdf
dc.publisher.none.fl_str_mv Elsevier
publisher.none.fl_str_mv Elsevier
dc.source.none.fl_str_mv reponame:CONICET Digital (CONICET)
instname:Consejo Nacional de Investigaciones Científicas y Técnicas
reponame_str CONICET Digital (CONICET)
collection CONICET Digital (CONICET)
instname_str Consejo Nacional de Investigaciones Científicas y Técnicas
repository.name.fl_str_mv CONICET Digital (CONICET) - Consejo Nacional de Investigaciones Científicas y Técnicas
repository.mail.fl_str_mv dasensio@conicet.gov.ar; lcarlino@conicet.gov.ar
_version_ 1842981155854352384
score 12.48226

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