Passivity-based visual feedback control with dynamic compensation of mobile manipulators: Stability and L2-gain performance analysis

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.