Passivity-based iterative learning control for visual feedback system

Toshiyuki Murao*, Hiroyuki Kawai, Masayuki Fujita

*この研究の対応する著者

研究成果: Conference contribution

3 被引用数 (Scopus)

抄録

This paper investigates iterative learning control based on passivity for three-dimensional (3-D) visual feedback systems. Firstly, a brief summary of a visual motion observer is given. Next, a pose control error system for iterative learning control that has an output strictly passivity property is constructed. Then, iterative learning control for 3-D visual feedback systems is proposed. The transient response of the proposed control law should be improved because of the repeatability. Convergence analysis of the closed-loop system is discussed based on passivity. Finally, simulation results are shown in order to confirm the proposed method.

本文言語English
ホスト出版物のタイトルProceedings of the IEEE International Conference on Control Applications
ページ675-680
ページ数6
DOI
出版ステータスPublished - 2011
イベント2011 20th IEEE International Conference on Control Applications, CCA 2011 - Denver, CO
継続期間: 2011 9月 282011 9月 30

Other

Other2011 20th IEEE International Conference on Control Applications, CCA 2011
CityDenver, CO
Period11/9/2811/9/30

ASJC Scopus subject areas

  • 制御およびシステム工学
  • コンピュータ サイエンスの応用
  • 数学一般

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