Title :
Adaptive H∞-control for robust visual feedback systems
Author :
Maruyama, Akihiro ; Fujita, Masayuki
Author_Institution :
Nachi-Fujikoshi Corp., Toyama, Japan
Abstract :
Deals with adaptive H∞-control for Lagrangian systems with visual feedback in presence of unknown parametric uncertainties. Based on adaptive manipulator control, the proposed controller consists of a visual PD feedback part and a full dynamics feedforward part with the update law of the parametric uncertainty. The L2-gain performance analysis of the proposed controller is carried out and its asymptotic property is examined. In the performance analysis of the visual feedback controller, the image feature parameter potential is important as the storage function
Keywords :
CCD image sensors; H∞ control; adaptive control; control system synthesis; feedback; feedforward; manipulator dynamics; robot vision; robust control; two-term control; uncertain systems; L2-gain performance analysis; Lagrangian systems; adaptive H∞-control; adaptive manipulator control; asymptotic property; full dynamics feedforward; image feature parameter potential; performance analysis; robust visual feedback systems; unknown parametric uncertainties; visual PD feedback; Adaptive control; Cameras; Equations; Feedback; Manipulator dynamics; Programmable control; Robustness; Transmission line matrix methods; Uncertainty; Vectors;
Conference_Titel :
Decision and Control, 1998. Proceedings of the 37th IEEE Conference on
Conference_Location :
Tampa, FL
Print_ISBN :
0-7803-4394-8
DOI :
10.1109/CDC.1998.758684
