Robust Visual Feedback Control for Robotic Manipulator Based on Adaptive <I>H</I><SUB>∞</SUB>, Control

• MARUYAMA Akira

  Nachi-Fujikoshi Corp.

• FUJITA Masayuki

  Faculty of Engineering, Kanazawa University

Bibliographic Information

Other Title

• 適応<I>H</I><SUB>∞</SUB>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
• テキオウ H セイギョ ニ モトヅク マニピュレータ ノ ロバスト シカク フィードバック セイギョ

Abstract

This paper deals with an adaptive H_∞-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 L₂-gain performance analysis of the proposed controller is carried out and its asymptotic property is examined. For the L₂-gain performance analysis, the image feature parameter potential plays an important role as the storage function.

Journal

• 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

  THE INSTITUTE OF SYSTEMS, CONTROL AND INFORMATION ENGINEERS (ISCIE)

Keywords

• visual feedback control
• adaptive H<SUB>∞</SUB> control
• image feature parameter potential
• dissipation theory

Details

• CRID: 1390282680142341888
• NII Article ID: 10004473569
• NII Book ID: AN1013280X
• DOI: 10.5687/iscie.12.579
• ISSN: 2185811X
• ISSN: 13425668
• NDL BIB ID: 4870115
• Web Site: https://ndlsearch.ndl.go.jp/books/R000000004-I4870115
• Data Source:
  • JaLC
  • NDL
  • Crossref
  • CiNii Articles
• Abstract License Flag: Disallowed