Towards an LMI approach to multicriteria visual servoing

Author

Bellot, D. ; Danes, P.

Author_Institution

LAAS, Toulouse, France

fYear

2001

fDate

4-7 Sept. 2001

Firstpage

2930

Lastpage

2935

Abstract

This paper proposes a general framework for the analysis and synthesis of multicriteria visual-based control schemes. Both position-based and image-based controllers can be studied, whether static or dynamic. A kinematic visual-based positioning standard problem is considered. Its embedding into a Structured Norm-bounded Linear Differential Inclusion allows to state sufficient conditions for some requirements such as the realization of the positioning task, the satisfaction of 3-D constraints or the avoidance of actuators´ saturations. Those are often expressed in terms of Matrix Inequalities.

Keywords

control system analysis; control system synthesis; linear matrix inequalities; position control; robot kinematics; robot vision; visual servoing; 3D constraints; LMI approach; actuator saturation avoidance; image-based controllers; kinematic visual-based positioning standard problem; linear matrix inequalities; multicriteria visual servoing; multicriteria visual-based control schemes; position-based controllers; structured norm-bounded linear differential inclusion; sufficient conditions; Cameras; Equations; Linear matrix inequalities; Stability analysis; Vectors; Visual servoing; Visualization; global linearization of rational systems; linear matrix inequalities; multicriteria robust control; visual servoing;

fLanguage

English

Publisher

ieee

Conference_Titel

Control Conference (ECC), 2001 European

Conference_Location

Porto

Print_ISBN

978-3-9524173-6-2

Type

conf

Filename

7076378