Title :
Stability and tracking performance of dynamic visual feedback control for nonlinear mechanical systems
Author :
Maruyama, Akira ; Kawai, Hiroyuki ; Fujita, Masayuki
Author_Institution :
Ind. Robot Dev. Dept., Nachi-Fujikoshi Corp., Toyama, Japan
Abstract :
This paper investigates a robot motion control problem with visual information. First, the model of the relative rigid body motion and the nonlinear observer are shown in order to derive the visual feedback system. Next, a design algorithm for the 3D visual feedback control problem which contains the manipulator dynamics are considered. Finally, we discuss the stability and L2-gain performance analysis for the 3D visual feedback system which contains the manipulator dynamics. The L2-gain performance analysis can be regarded as a tracking performance measure for the moving target object
Keywords :
Lyapunov methods; feedback; manipulator dynamics; motion control; nonlinear systems; observers; robot vision; stability; tracking; 3D visual feedback; L2 gain performance; manipulator dynamics; mechanical nonlinear systems; motion control; moving target tracking; observer; rigid body motion; stability; Algorithm design and analysis; Feedback control; Manipulator dynamics; Motion control; Nonlinear dynamical systems; Performance analysis; Robot control; Robot motion; Stability analysis; Target tracking;
Conference_Titel :
Decision and Control, 2001. Proceedings of the 40th IEEE Conference on
Conference_Location :
Orlando, FL
Print_ISBN :
0-7803-7061-9
DOI :
10.1109/.2001.980897
