Stability and <i>L</i><sub>2</sub>-Gain Performance Analysis for Robust Visual Servo System

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  • ロバスト視覚サーボシステムの<i>L</i><sub>2</sub>ゲインによる制御性能解析
  • ロバスト視覚サーボシステムのL2ゲインによる制御性能解析
  • ロバスト シカク サーボ システム ノ L2 ゲイン ニヨル セイギョ セイノ

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In this paper, we deal with disturbance attenuation property of a controller for the visual servo systems. First, based on Lyapunov stability theory, we propose an asymptotically stable controller without exogenous inputs, e. g. the joint torque disturbances and the motion of a target. Next we show that the proposed controller achieves disturbance attenuation in the L2-gain sense, that is, the L2-gain of the closed loop system from the exogenous inputs to the regulated outputs can be made sufficiency small with a suitable selection of the feedback gains. Finally, our experiments on an industrial manipulator are shown to evaluate the effectiveness of the proposed controller and L2-gain performance analysis for the visual servo system.

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