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Browse Conference Publications > Decision and Control, 2001. P ... Help

Stability and tracking performance of dynamic visual feedback control for nonlinear mechanical systems

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3 Author(s)
Maruyama, A. ; Ind. Robot Dev. Dept., Nachi-Fujikoshi Corp., Toyama, Japan ; Kawai, H. ; Fujita, M.

This paper investigates a robot motion control problem with visual information. First, the model of the relative rigid body motion and the nonlinear observer are shown in order to derive the visual feedback system. Next, a design algorithm for the 3D visual feedback control problem which contains the manipulator dynamics are considered. Finally, we discuss the stability and L2-gain performance analysis for the 3D visual feedback system which contains the manipulator dynamics. The L2-gain performance analysis can be regarded as a tracking performance measure for the moving target object

Published in:
Decision and Control, 2001. Proceedings of the 40th IEEE Conference on  (Volume:5 )

Date of Conference: 2001

Page(s):
4415 - 4420 vol.5
Meeting Date :
04 Dec 2001-07 Dec 2001
Print ISBN:
0-7803-7061-9
INSPEC Accession Number:
7197981
Conference Location :
Orlando, FL
Digital Object Identifier :
10.1109/.2001.980897
Product Type:
Conference Publications

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