Passivity-based Visual Feedback Control of Nonlinear Mechanical Systems

MARUYAMA Akira, KAWAI Hiroyuki, FUJITA Masayuki

doi:10.5687/iscie.15.627

Bibliographic Information

Other Title

受動性に基づく非線形視覚フィードバック制御
Passivity based Visual Feedback Control of Nonlinear Mechanical Systems Stability and L2 Gain Performance Analysis
Stability and L2-Gain Performance Analysis
安定性とL2ゲイン制御性能の解析

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Abstract

This paper investigates the relative rigid body motion (positions and rotations) control problem with visual information. Firstly the model of the relative rigid body motion and the nonlinear observer are considered in order to derive the visual feedback system. Secondly stability and L₂-gain performance analysis are discussed based on passivity. Finally we present simulation results to confirm the effectiveness of the proposed visual feedback control design.

Journal

Transactions of the Institute of Systems, Control and Information Engineers

Transactions of the Institute of Systems, Control and Information Engineers 15 (12), 627-635, 2002

THE INSTITUTE OF SYSTEMS, CONTROL AND INFORMATION ENGINEERS (ISCIE)

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Details 詳細情報について

CRID: 1390282680141313536

NII Article ID: 10010127881

NII Book ID: AN1013280X

DOI: 10.5687/iscie.15.627

ISSN: 2185811X; 13425668

NDL BIB ID: 6376561

Web Site: http://id.ndl.go.jp/bib/6376561; https://ndlsearch.ndl.go.jp/books/R000000004-I6376561

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