Title :
L2-gain performance analysis for nonlinear robust visual servo control
Author :
Maruyama, Akira ; Fujita, Masayuki
Author_Institution :
Nachi-Fujikoshi Corp., Toyama, Japan
Abstract :
In this paper, we deal with disturbance attenuation property of an asymptotically stable nonlinear controller for the visual servo systems. First, based on Lyapunov stability theory, we propose the exponentially stable controller without the external disturbances. Next, we show that the controller achieves disturbance attenuation in the L2-gain sense; that is, the L2-gain of the closed loop system can be made sufficiently small with a suitable selection of the feedback gains. Finally, the usefulness of the controller and the L 2-gain performance analysis are confirmed by experiments using an industrial manipulator
Keywords :
Lyapunov methods; asymptotic stability; closed loop systems; control system analysis; feedback; manipulators; nonlinear control systems; optimal control; robot vision; robust control; L2-gain performance analysis; Lyapunov stability theory; asymptotically stable nonlinear controller; closed loop system; disturbance attenuation; exponentially stable controller; feedback gains; industrial manipulator; nonlinear robust visual servo control; Attenuation; Closed loop systems; Control systems; Electrical equipment industry; Feedback loop; Industrial control; Lyapunov method; Nonlinear control systems; Performance analysis; Servomechanisms;
Conference_Titel :
American Control Conference, 1998. Proceedings of the 1998
Conference_Location :
Philadelphia, PA
Print_ISBN :
0-7803-4530-4
DOI :
10.1109/ACC.1998.688394
