Passivity-based iterative learning control for visual feedback system

Toshiyuki Murao, Hiroyuki Kawai, Masayuki Fujita

Research output: Chapter in Book/Report/Conference proceedingConference contribution

2 Citations (Scopus)

Abstract

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.

Original languageEnglish
Title of host publicationProceedings of the IEEE International Conference on Control Applications
Pages675-680
Number of pages6
DOIs
Publication statusPublished - 2011
Event2011 20th IEEE International Conference on Control Applications, CCA 2011 - Denver, CO
Duration: 2011 Sep 282011 Sep 30

Other

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

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ASJC Scopus subject areas

  • Control and Systems Engineering
  • Computer Science Applications
  • Mathematics(all)

Cite this

Murao, T., Kawai, H., & Fujita, M. (2011). Passivity-based iterative learning control for visual feedback system. In Proceedings of the IEEE International Conference on Control Applications (pp. 675-680). [6044394] https://doi.org/10.1109/CCA.2011.6044394