Title :
Passivity-based iterative learning control for visual feedback system
Author :
Murao, Toshiyuki ; Kawai, Hiroyuki ; Fujita, Masayuki
Author_Institution :
Master Program of Innovation for Design & Eng., Adv. Inst. of Ind. Technol., Tokyo, Japan
Abstract :
This paper investigates iterative learning control based on passivity for three-dimensional (3-D) visual feedback systems. Firstly, a brief summary of a visual motion observer is given. Next, a pose control error system for iterative learning control that has an output strictly passivity property is constructed. Then, iterative learning control for 3-D visual feedback systems is proposed. The transient response of the proposed control law should be improved because of the repeatability. Convergence analysis of the closed-loop system is discussed based on passivity. Finally, simulation results are shown in order to confirm the proposed method.
Keywords :
adaptive control; closed loop systems; iterative methods; learning systems; observers; pose estimation; robot vision; closed loop system; control law; convergence analysis; passivity based iterative learning control; pose control error system; three dimensional visual feedback systems; visual motion observer; Cameras; Control systems; Estimation error; Iterative methods; Jacobian matrices; Observers; Visualization;
Conference_Titel :
Control Applications (CCA), 2011 IEEE International Conference on
Conference_Location :
Denver, CO
Print_ISBN :
978-1-4577-1062-9
Electronic_ISBN :
978-1-4577-1061-2
DOI :
10.1109/CCA.2011.6044394
