Passivity-based Iterative Learning Control for Visual Feedback System

被引：0
|
作者：
Murao, Toshiyuki [1 ]
Kawai, Hiroyuki [2 ]
Fujita, Masayuki [3 ]
机构：
[1] Adv Inst Ind Technol, Master Program Innovat Design & Engn, Tokyo 1400011, Japan
[2] Kanazawa Inst Technol, Dept Robot, Ishukawa 9218501, Japan
[3] Tokyo Inst Technol, Dept Mech & Control Engn, Tokyo 1528550, Japan
来源：
2011 IEEE INTERNATIONAL CONFERENCE ON CONTROL APPLICATIONS (CCA) | 2011年
关键词：
SERVO;
D O I：
暂无
中图分类号：
TP [自动化技术、计算机技术];
学科分类号：
0812 ;
摘要：
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.
引用
收藏
页码：675 / 680
页数：6
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