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

Volume

4

fYear

1999

fDate

6/21/1905 12:00:00 AM

Firstpage

4161

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;

fLanguage

English

Publisher

ieee

Conference_Titel

Decision and Control, 1999. Proceedings of the 38th IEEE Conference on

Conference_Location

Phoenix, AZ

ISSN

0191-2216

Print_ISBN

0-7803-5250-5

Type

conf

DOI

10.1109/CDC.1999.828014

Filename

828014