A Study on Robust H∞ Control of Visual Servo Systems Design

视觉伺服系统鲁棒H∞控制设计研究

• 批准号: 10650427
• 负责人: FUJITA Masayuki
• 金额: $ 1.15万
• 依托单位: Kanazawa University
• 依托单位国家: 日本
• 项目类别: Grant-in-Aid for Scientific Research (C)
• 财政年份: 1998
• 资助国家: 日本
• 起止时间: 1998 至 1999
• 项目状态: 已结题
• 来源: https://kaken.nii.ac.jp/grant/KAKENHI-PROJECT-10650427/
• 关键词: Robust Control; HィイD2∞ィエD2 Control; Nonlinear Control; Visual Servo; Robot Control

Motion control of the mechanical systems with visual feedback is a basic ability of human being. Applications that have been proposed widely span manufacturing, car steering and so on. Moreover, the visual feedback control is an important discipline that lies at the intersection between nonlinear control theory and geometric framework of the mechanics and image processing. This research deals with the visual feedback control of robotic manipulators in nonlinear control theoretical aspects.Firstly, the visual feedback control problem of the planar manipulator is considered as the stabilization problem with respect to the image feature position. The passivity of the manipulators and the rotational matrix property derive the visual feedback controller to guarantee the asymptotic stability in the Lyapunov sense.Next, the principal contribution of this research is the design and analysis of the robust visual feedback control in the nonlinear HィイD2∞ィエD2 setting. The HィイD2∞ィエD2 visual feedback control achieves the internal stability and the LィイD22ィエD2 gain disturbance attenuation property against the exogenous inputs, e.g., joint torque disturbances and unknown target motions. For the LィイD22ィエD2 gain performance analysis, the storage function is directly constructed via the properties of the manipulator dynamics and the rotational matrix. Then, the robust visual feedback control against the parametric uncertainties of the manipulator model is proposed. The adaptive HィイD2∞ィエD2 control technique provides the robust visual feedback control algorithm and the storage function for the LィイD22ィエD2 gain performance analysis.

具有视觉反馈的机械系统的运动控制是人类的基本能力。已提出的应用程序广泛跨越了制造，汽车转向等。此外，视觉反馈控制是一项重要的学科，位于机械控制和图像处理的非线性控制理论与几何框架之间的相交。这项研究涉及在非线性控制理论方面对机器人操纵器的视觉反馈控制。首先，平面操纵器的视觉反馈控制问题被认为是相对于图像特征位置的稳定问题。操纵器和旋转矩阵属性的消极性得出了视觉反馈控制器，以确保Lyapunov Sense中的不对称稳定性。本研究的主要贡献是对非线性hyi hyi hyi hyid2∞D2设置的强大视觉反馈控制的设计和分析。视觉反馈控制实现了内部稳定性，而LII D22E D2对外源输入（例如关节扭矩疾病和未知目标运动）的衰减特性获得了难以衰减的性能。对于LII D22E D2增益性能分析，存储函数是通过操纵器动力学和旋转矩阵的属性直接构建的。然后，提出了针对操纵器模型的参数不确定性的强大视觉反馈控制。自适应HIID2∞IED2控制技术为LII D22IE D2增益性能分析提供了强大的视觉反馈控制算法和存储函数。

项目成果

Akira MARUYAMA: "Inverse Optimal H_∞ Disturbance Attenuation lf Robotic Manipulators"Proc. of the 1999 European Control Conf.. F806 (1999)

Akira MARUYAMA：“机器人操纵器的逆最优 H_∞ 干扰衰减”Proc. 1999 年欧洲控制会议 F806 (1999)

A. Maruyama: "Visual Feedback Control of Rigid Body Motion based on Dissipation Theoretical Approach"Proc. of the 38th IEEE Conference on Decision and Control. 4161-4166 (1999)

A. Maruyama：“基于耗散理论方法的刚体运动视觉反馈控制”Proc。

A. Maruyama: "Robust Visual Feedback Control for Robotic Manipulator Based on Adaptive HィイD2∞ィエD2 Control (in Japanese)"Trans. of the ISCIE. 12-10. 579-585 (1999)

A. Maruyama：“基于自适应 HiiD2∞ieD2 控制的机器人操纵器的鲁棒视觉反馈控制（日语）”，ISCIE 12-10（1999）。

Akira MARUYAMA: "Visual Feedback Control of Rigid Body Motion"Proc. of the 38th IEEE Conf. on Decision and Control. 4161-4166 (1999)

Akira MARUYAMA：“刚体运动的视觉反馈控制”Proc。

A. Maruyama: "Robust Visual Servo Control of Planar Manipulators under the Eye-in-Hand Configuration"Advanced Robotics. 12・1. 67-80 (1998)

A. Maruyama：“手眼配置下平面机械手的鲁棒视觉伺服控制”《先进机器人》12・1（1998）。