書誌事項
- タイトル別名
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- Passivity-based 3D Dynamic Visual Feedback Control with a Fixed Camera
- ジュドウセイ ニ モトヅク 3ジゲン ドウテキ シカク フィードバック セイギョ ノ コテイ カメラ コウゾウ エ ノ テンカイ
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In this paper, we investigate the control and the estimation of dynamic visual feedback systems with a fixed camera. Firstly the fundamental representation of the visual feedback system with four coordinate frames is established by using the homogeneous representation and adjoint transformation. Secondly we consider the observer which is reproduced from the fundamental representation of relative rigid body motion just as Luenberger observer for linear systems. Then, the relationship between the estimation error in the 3D workspace and in the image plane is established. Next, we derive the passivity of the dynamic visual feedback system by combining the passivity of both the visual feedback system and the manipulator dynamics. The stability via Lyapunov method for the full 3D dynamic visual feedback system is discussed based on the passivity. The L2-gain performance analysis for the disturbance attenuation problem is considered via the dissipative systems theory. Finally simulation results are shown to verify the stability and L2-gain performance of the dynamic visual feedback system.
収録刊行物
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- システム制御情報学会論文誌
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システム制御情報学会論文誌 18 (4), 127-135, 2005
一般社団法人 システム制御情報学会
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詳細情報 詳細情報について
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- CRID
- 1390282680141782912
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- NII論文ID
- 130002037827
- 10015475835
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- NII書誌ID
- AN1013280X
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- ISSN
- 2185811X
- 13425668
- http://id.crossref.org/issn/13425668
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- NDL書誌ID
- 7295982
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- 本文言語コード
- ja
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- データソース種別
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- JaLC
- NDL
- Crossref
- CiNii Articles
- KAKEN
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- 抄録ライセンスフラグ
- 使用不可