Stability and tracking performance of dynamic visual feedback control for nonlinear mechanical systems

Author

Maruyama, Akira ; Kawai, Hiroyuki ; Fujita, Masayuki

Author_Institution

Ind. Robot Dev. Dept., Nachi-Fujikoshi Corp., Toyama, Japan

Volume

5

fYear

2001

fDate

2001

Firstpage

4415

Abstract

This paper investigates a robot motion control problem with visual information. First, the model of the relative rigid body motion and the nonlinear observer are shown in order to derive the visual feedback system. Next, a design algorithm for the 3D visual feedback control problem which contains the manipulator dynamics are considered. Finally, we discuss the stability and L₂-gain performance analysis for the 3D visual feedback system which contains the manipulator dynamics. The L₂-gain performance analysis can be regarded as a tracking performance measure for the moving target object

Keywords

Lyapunov methods; feedback; manipulator dynamics; motion control; nonlinear systems; observers; robot vision; stability; tracking; 3D visual feedback; L₂ gain performance; manipulator dynamics; mechanical nonlinear systems; motion control; moving target tracking; observer; rigid body motion; stability; Algorithm design and analysis; Feedback control; Manipulator dynamics; Motion control; Nonlinear dynamical systems; Performance analysis; Robot control; Robot motion; Stability analysis; Target tracking;

fLanguage

English

Publisher

ieee

Conference_Titel

Decision and Control, 2001. Proceedings of the 40th IEEE Conference on

Conference_Location

Orlando, FL

Print_ISBN

0-7803-7061-9

Type

conf

DOI

10.1109/.2001.980897

Filename

980897