Title :
Visual feedback control of rigid body motion base on dissipation theoretical approach
Author :
Maruyama, A. ; Fujita, M.
Author_Institution :
Res. & Dev. Dept., Nachi-Fujikoshi Corp., Japan
fDate :
6/21/1905 12:00:00 AM
Abstract :
This paper investigates the relative rigid motion (positions and orientations) control problem with visual informations. The vector field of the special Euclidean space, SE(3), gives us the relative motion model. We then define the error function on the rotational matrix group, SO(3). The error function derives the visual feedback control of the relative motion. Next, the stability and L2 gain performance analysis of the proposed visual feedback control algorithm are treated via the dissipative system theory
Keywords :
SO(3) groups; feedback; manipulators; matrix algebra; performance index; robot vision; stability; L2 gain performance analysis; SE(3); SO(3); dissipative system theory; error function; manipulators; orientation control; position control; relative motion model; relative rigid motion; rigid body motion; robot vision; rotational matrix group; special Euclidean space; stability; vector field; visual feedback control; Cameras; Control systems; Convergence; Feedback control; Mechanical systems; Nonlinear equations; Performance analysis; Performance gain; Stability analysis; Target tracking;
Conference_Titel :
Decision and Control, 1999. Proceedings of the 38th IEEE Conference on
Conference_Location :
Phoenix, AZ
Print_ISBN :
0-7803-5250-5
DOI :
10.1109/CDC.1999.828014
