適応H_∞制御に基づくマニピュレータのロバスト視覚フィードバック制御 [in Japanese] Robust Visual Feedback Control for Robotic Manipulator Based on Adaptive H_∞ Control [in Japanese]
Access this Article
Search this Article
This paper deals with an adaptive <I>H</I><SUB>∞</SUB>-control for the Lagrangian systems with the visual feedback in presence of parametric uncertainties. Based on an adaptive manipulator control, the proposed controller consists of the visual PD feedback part and the full dynamics feedforward part with the update law of the parametric uncertainty. The <I>L</I><SUB>2</SUB>-gain performance analysis of the proposed controller is carried out and its asymptotic property is examined. For the <I>L</I><SUB>2</SUB>-gain performance analysis, the image feature parameter potential plays an important role as the storage function.
- Transactions of the Institute of Systems, Control and Information Engineers
Transactions of the Institute of Systems, Control and Information Engineers 12(10), 579-585, 1999-10-15
THE INSTITUTE OF SYSTEMS, CONTROL AND INFORMATION ENGINEERS (ISCIE)