SICE Journal of Control, Measurement, and System Integration
巻, 号, ページ
Vol. 10
No. 3
pp. 204-213
出版年月
2017年5月
出版者
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英文:
SICE
会議名称
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開催地
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アブストラクト
This paper studies visual feedback position tracking control of two-wheeled vehicles in the situation that a camera and a target object are attached to the vehicles, respectively. Here, the body velocity of the target object vehicle is modeled as a Fourier series expansion. The relative position between the camera and the target object is controlled to the desired relative position. The present control law is based only on visual measurements, and the necessary information to implement the law is estimated from them. The asymptotic stability of the equilibrium of the total system including the internal attitude behavior is analyzed under some conditions of the target object vehicle velocity via stability theory of perturbed systems. Finally, a numerical simulation is conducted to show the effectiveness of the proposed method.
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