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

页码：675 / 680

页数：6

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