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

fYear

2011

Firstpage

675

Lastpage

680

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;

fLanguage

English

Publisher

ieee

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

Type

conf

DOI

10.1109/CCA.2011.6044394

Filename

6044394