書誌事項
- タイトル別名
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- Visual Feedback Leader-following Attitude Synchronization
- シカク フィードバック ニ ヨル リーダ ツイビガタ シセイ キョウチョウ セイギョ
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説明
In this paper we investigate visual feedback attitude synchronization in leader-follower type visibility structures on the Special Euclidean group SE(3). We first define visual robotic networks consisting of the dynamics describing rigid body motion, visibility structures among bodies and visual measurements. We then propose a visual feedback attitude synchronization law combining a vision-based observer with the attitude synchronization law presented in our previous works. We then prove that when the leader does not rotate, the visual robotic network with the control law achieves visual feedback attitude synchronization. Moreover, for a rotating leader, we evaluate the tracking performance of the other bodies. In analysis, we employ the notion of input-to-state stability and L2-gain performance regarding the leader’s angular velocity as an external disturbance. Finally, the validity of the proposed control law and the analysis is demonstrated through simulations.<br>
収録刊行物
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- システム制御情報学会論文誌
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システム制御情報学会論文誌 24 (7), 155-164, 2011
一般社団法人 システム制御情報学会
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キーワード
詳細情報 詳細情報について
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- CRID
- 1390282680141770624
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- NII論文ID
- 10030146201
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- NII書誌ID
- AN1013280X
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- ISSN
- 2185811X
- 13425668
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- NDL書誌ID
- 11154475
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- 本文言語コード
- ja
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- データソース種別
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- JaLC
- NDL
- Crossref
- CiNii Articles
- KAKEN
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- 抄録ライセンスフラグ
- 使用不可
