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

descriptionPublicationkeyboard_double_arrow_right Article , Conference object 13 Nov 2002Publisher:IEEEJournal:Proceedings of the 40th IEEE Conference on Decision and Control (Cat. No.01CH37228), volume 5, pages 4,415-4,420
Authors: Akira Maruyama; Hiroyuki Kawai; Masayuki Fujita;

doi: 10.1109/cdc.2001.980897 , 10.1109/.2001.980897

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

Abstract

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 L/sub 2/-gain performance analysis for the 3D visual feedback system which contains the manipulator dynamics. The L/sub 2/-gain performance analysis can be regarded as a tracking performance measure for the moving target object.

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selected citations
These citations are derived from selected sources.
This is an alternative to the "Influence" indicator, which also reflects the overall/total impact of an article in the research community at large, based on the underlying citation network (diachronically).
BIP!Citations provided by BIP!
popularity
This indicator reflects the "current" impact/attention (the "hype") of an article in the research community at large, based on the underlying citation network.
BIP!Popularity provided by BIP!
influence
This indicator reflects the overall/total impact of an article in the research community at large, based on the underlying citation network (diachronically).
BIP!Influence provided by BIP!
impulse
This indicator reflects the initial momentum of an article directly after its publication, based on the underlying citation network.
BIP!Impulse provided by BIP!
5
Average
Average
Average
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