By Topic

Visual servoing based on multirate sampling control-application of perfect disturbance rejection control

Sign In

Cookies must be enabled to login.After enabling cookies , please use refresh or reload or ctrl+f5 on the browser for the login options.

Formats Non-Member Member
$33 $13
Learn how you can qualify for the best price for this item!
Become an IEEE Member or Subscribe to
IEEE Xplore for exclusive pricing!
close button

puzzle piece

IEEE membership options for an individual and IEEE Xplore subscriptions for an organization offer the most affordable access to essential journal articles, conference papers, standards, eBooks, and eLearning courses.

Learn more about:

IEEE membership

IEEE Xplore subscriptions

2 Author(s)
H. Fujimoto ; Dept. of Electr. Eng., Tokyo Univ., Japan ; Y. Hori

In this paper, novel multirate controllers are proposed for digital control systems, where it is restricted that the sampling period of plant output is longer than the control period of plant input. The proposed controllers can assure perfect disturbance rejection at M intersample points in the steady state. Moreover, the novel scheme of repetitive control is proposed based on the open-loop estimation and switching function, which enables to reject periodical disturbance without any sacrifice of the feedback characteristics. The proposed methods are applied to the visual servo system, and the advantages of these approaches are demonstrated by simulations.

Published in:

Robotics and Automation, 2001. Proceedings 2001 ICRA. IEEE International Conference on  (Volume:1 )

Date of Conference:

2001