Passivity-based Visual Feedback Control for an Endpoint Closed-loop System with a Movable Camera

被引：0

作者：

Kuroda, Mamoru ^{[1
]}

Murao, Toshiyuki ^{[2
]}

Kawai, Hiroyuki ^{[2
]}

机构：

[1] Kanazawa Inst Technol, Grad Program Mech Engn, Nonoichi, Ishikawa, Japan

[2] Kanazawa Inst Technol, Dept Robot, Nonoichi, Ishikawa, Japan

来源：

IECON 2018 - 44TH ANNUAL CONFERENCE OF THE IEEE INDUSTRIAL ELECTRONICS SOCIETY | 2018年

关键词：

visual feedback control; passivity; stability; eye-to-hand configuration; movable camera; STABILITY;

D O I：

暂无

中图分类号：

TM [电工技术]; TN [电子技术、通信技术];

学科分类号：

0808 ; 0809 ;

摘要：

This paper presents passivity-based visual feedback control for an endpoint closed-loop system with a movable camera. The objective of the system is that a controlled mobile vehicle tracks a target object vehicle by using only aerial vehicle's visual information. First, a brief summary of the estimation and pose error systems for the camera-mounted aerial vehicle is presented. Second, we design a novel nonlinear observer to estimate the pose of the controlled mobile vehicle. Next, we propose a visual feedback control law for the constructed visual motion error system based on the passivity. After discussing stability analysis of the closed-loop system through Lyapunov stability theorem, simulation results are provided to illustrate the performance of the proposed control method.

引用

页码：2410 / 2415

页数：6

共 22 条

[1] Passivity-based visual feedback control with dynamic compensation of mobile manipulators: Stability and L2-gain performance analysis [J].

Andaluz, Victor H. ;

Roberti, Flavio ;

Salinas, Lucio ;

Toibero, Juan M. ;

Carelli, Ricardo .

ROBOTICS AND AUTONOMOUS SYSTEMS, 2015, 66 :64-74

[2]

[Anonymous], 2005, APPL MATH SERIES

[3]

[Anonymous], 2008, IFAC P

[4]

Chaumette F., 2008, Springer Handbook of Robotics, P563

[5] Kalman Filter for Robot Vision: A Survey [J].

Chen, S. Y. .

IEEE TRANSACTIONS ON INDUSTRIAL ELECTRONICS, 2012, 59 (11) :4409-4420

[6]

Elena M, 2003, CCA 2003: PROCEEDINGS OF 2003 IEEE CONFERENCE ON CONTROL APPLICATIONS, VOLS 1 AND 2, P989

[7]

Flandin G., 2000, Proceedings 2000 ICRA. Millennium Conference. IEEE International Conference on Robotics and Automation. Symposia Proceedings (Cat. No.00CH37065), P2741, DOI 10.1109/ROBOT.2000.846442

[8] Passivity-based dynamic visual feedback control for three-dimensional target tracking:: Stability and L2-gain performance analysis [J].

Fujita, Masayuki ;

Kawai, Hiroyuki ;

Spong, Mark W. .

IEEE TRANSACTIONS ON CONTROL SYSTEMS TECHNOLOGY, 2007, 15 (01) :40-52

[9]

Hatanaka T, 2015, COMMUN CONTROL ENG, P1, DOI 10.1007/978-3-319-15171-7

[10] A tutorial on visual servo control [J].

Hutchinson, S ;

Hager, GD ;

Corke, PI .

IEEE TRANSACTIONS ON ROBOTICS AND AUTOMATION, 1996, 12 (05) :651-670

← 1 2 3 →