This paper investigates iterative learning control
based on passivity for three-dimensional (3-D) visual feedback
systems. Firstly, a brief summary of a visual motion observer
is given. Next, a pose control error system for iterative learning
control that has an output strictly passivity property is
constructed. Then, iterative learning control for 3-D visual
feedback systems is proposed. The transient response of the
proposed control law should be improved because of the
repeatability. Convergence analysis of the closed-loop system
is discussed based on passivity. Finally, simulation results are
shown in order to confirm the proposed method.
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