The Experts below are selected from a list of 339264 Experts worldwide ranked by ideXlab platform
Masayuki Fujita - One of the best experts on this subject based on the ideXlab platform.
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passivity based visual force feedback control for planar manipulators with eye in hand configuration
International Conference on Control Applications, 2007Co-Authors: Hiroyuki Kawai, Toshiyuki Murao, Masayuki FujitaAbstract:This paper investigates visual force feedback control for planar manipulators with the eye-in-hand configuration based on passivity. The vision/force control is applied to horizontal/vertical direction for the environment which is thought as a frictionless, elastically compliant plane. We show passivity of the visual force feedback system which allows us to prove stability in the sense of Lyapunov. The L2-Gain Performance analysis for the disturbance attenuation problem is considered via the dissipative systems theory. Finally simulation results are shown to verify the stability and L2-Gain Performance of the visual force feedback system.
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CCA - Passivity-based Visual Force Feedback Control for Planar Manipulators with Eye-in-Hand Configuration
2007 IEEE International Conference on Control Applications, 2007Co-Authors: Hiroyuki Kawai, Toshiyuki Murao, Masayuki FujitaAbstract:This paper investigates visual force feedback control for planar manipulators with the eye-in-hand configuration based on passivity. The vision/force control is applied to horizontal/vertical direction for the environment which is thought as a frictionless, elastically compliant plane. We show passivity of the visual force feedback system which allows us to prove stability in the sense of Lyapunov. The L2-Gain Performance analysis for the disturbance attenuation problem is considered via the dissipative systems theory. Finally simulation results are shown to verify the stability and L2-Gain Performance of the visual force feedback system.
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passivity based dynamic visual feedback control for three dimensional target tracking stability and l_ 2 Gain Performance analysis
IEEE Transactions on Control Systems and Technology, 2007Co-Authors: Masayuki Fujita, Hiroyuki Kawai, Mark W SpongAbstract:This paper investigates vision-based robot control based on passivity for three-dimensional (3-D) target tracking. First, using standard body-attached coordinate frames (the world frame, camera frame, and object frame), we represent the relative position and orientation between a moving target and a camera as an element of SE(3). Using this representation we derive a nonlinear observer to estimate the relative rigid body motion from the measured camera data. We then establish the relationship between the estimation error in a 3-D workspace and in the image plane. We show passivity of the dynamic visual feedback system by combining the passivity of both the visual feedback system and the manipulator dynamics which allows us to prove stability in the sense of Lyapunov for the full 3-D dynamic visual feedback system. The L2 -Gain Performance analysis, which deals with the disturbance attenuation problem, is then considered via dissipative systems theory. Finally, experimental results are presented to verify the stability and L2-Gain Performance of the dynamic visual feedback system
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Passivity-Based Dynamic Visual Feedback Control for Three-Dimensional Target Tracking: Stability and $L_{2}$ -Gain Performance Analysis
IEEE Transactions on Control Systems Technology, 2007Co-Authors: Masayuki Fujita, Hiroyuki Kawai, Mark W SpongAbstract:This paper investigates vision-based robot control based on passivity for three-dimensional (3-D) target tracking. First, using standard body-attached coordinate frames (the world frame, camera frame, and object frame), we represent the relative position and orientation between a moving target and a camera as an element of SE(3). Using this representation we derive a nonlinear observer to estimate the relative rigid body motion from the measured camera data. We then establish the relationship between the estimation error in a 3-D workspace and in the image plane. We show passivity of the dynamic visual feedback system by combining the passivity of both the visual feedback system and the manipulator dynamics which allows us to prove stability in the sense of Lyapunov for the full 3-D dynamic visual feedback system. The L2 -Gain Performance analysis, which deals with the disturbance attenuation problem, is then considered via dissipative systems theory. Finally, experimental results are presented to verify the stability and L2-Gain Performance of the dynamic visual feedback system
Hidetoshi Oya - One of the best experts on this subject based on the ideXlab platform.
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ICARCV - Synthesis of Point Memory-Based Adaptive Gain Robust Controllers with Guaranteed $\mathcal{L}_{2}$ Gain Performance for a Class of Uncertain Time-Delay Systems
2018 15th International Conference on Control Automation Robotics and Vision (ICARCV), 2018Co-Authors: Hidetoshi Oya, Shunya Nagai, Tsuyoshi Matsuki, Yoshikatsu HoshiAbstract:This paper proposes a point memory-based adaptive Gain robust controller with $\mathcal{L}_{2}$ Gain Performance for a class of uncertain linear systems with state delays. The point memory adaptive Gain robust controller presented in this paper consists of a fixed Gain controller and a adaptive Gain one. In this paper, we show that LMI-based sufficient conditions for the existence of the proposed adaptive Gain robust controller are presented. Finally, a simple illustrative example is included to show the effectiveness of the proposed robust control system.
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IECON - An LMI-based Design Method of a Variable Gain Robust Controller Giving Consideration to Nominal $\mathcal{L}_{2}$ Gain Performance and Allowable Uncertainty Region for a Class of Uncertain Linear Systems
IECON 2018 - 44th Annual Conference of the IEEE Industrial Electronics Society, 2018Co-Authors: Shunya Nagai, Hidetoshi Oya, Tsuyoshi Matsuki, Yoshikatsu HoshiAbstract:In this paper, we propose an LMI-based design method of a variable Gain robust controller giving consideration to nominal $\mathcal{L}_{2}$ Gain Performance and allowable uncertainty region for a class of uncertain linear systems. The proposed robust controller consists of a fixed Gain designed by considering guaranteed $\mathcal{L}_{2}$ Gain Performance for the nominal system and an adjustable parameter tuned by adjustment laws. Moreover, the sufficient condition for the existence of the proposed variable Gain robust controller is given in terms of linear matrix inequalities (LMIs). Finally, we present a numerical example.
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A new variable Gain robust controller giving consideration to nominal L 2 Gain Performance for linear systems with structured uncertainties
2017 International Conference on Inventive Systems and Control (ICISC), 2017Co-Authors: Shunya Nagai, Hidetoshi Oya, Tomohiro Kubo, Tsuyoshi MatsukiAbstract:In this paper, we propose a new variable Gain robust controller giving consideration to nominal L 2 Gain Performance for a class of uncertain linear systems. The proposed robust controller consists of a fixed Gain designed by considering guaranteed L 2 Gain Performance for the nominal system and an adjustable parameter tuned by updating laws. Furthermore, we show that sufficient conditions for the existence of the proposed controller are reduced to feasibility of LMIs. At last, a numerical example is presented.
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Decentralized Variable Gain Robust Controllers with Guaranteed L2 Gain Performance for a Class of Uncertain Large-Scale Interconnected Systems with State Delays
MATEC Web of Conferences, 2016Co-Authors: Shunya Nagai, Hidetoshi Oya, Tomohiro KuboAbstract:In this paper, we propose a decentralized variable Gain robust controller with guaranteed L 2 Gain Performance for a class of uncertain large-scale interconnected systems with state delays. The proposed decentralized robust controller consists of a fixed Gain and a variable Gain tuned by parameter adjustment laws. In this paper, it is shown that sufficient conditions for the existence of the proposed decentralized variable Gain robust control system are given in terms of LMIs. Finally, a simple illustrative example is shown.
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Synthesis of decentralized variable Gain robust controllers with guaranteed ℒ 2 Gain Performance for a class of uncertain large-scale interconnected systems
Journal of Control Science and Engineering, 2015Co-Authors: Shunya Nagai, Hidetoshi OyaAbstract:We consider a design problem of a decentralized variable Gain robust controller with guaranteed L2 Gain Performance for a class of uncertain large-scale interconnected systems. For the uncertain large-scale interconnected system, the uncertainties and the interactions satisfy the matching condition. In this paper, we show that sufficient conditions for the existence of the proposed decentralized variable Gain robust controller with guaranteed L2 Gain Performance are given in terms of linear matrix inequalities (LMIs). Finally, simple illustrative examples are shown.
Junfeng Zhang - One of the best experts on this subject based on the ideXlab platform.
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Stability and Gain Performance analysis for singular switched positive systems under MDMDT switching signal
Journal of the Franklin Institute, 2021Co-Authors: Zhengrong Xiang, Junfeng ZhangAbstract:Abstract For delayed singular switched positive systems(SSPSs) under mode-dependent minimum dwell time(MDMDT) switching signal, the stability and standard Gain Performance in the sense of L 1 -Gain and L ∞ -Gain are analyzed in this paper, and both continuous-time and discrete-time cases are taken into account. Firstly, a sufficient stability condition for delayed continuous-time SSPSs under MDMDT switching signal is provided, and meanwhile, to analyze the disturbance attenuation Performance, the standard Gain Performance conditions in the sense of L 1 -Gain and L ∞ -Gain are proposed, respectively. Next, considering delayed discrete-time SSPSs under MDMDT switching signal, sufficient stability condition and standard Gain Performance conditions in the sense of L 1 -Gain and L ∞ -Gain are put forward, respectively. Moreover, for delayed SSPSs with minimum dwell time switching signal, stability and standard Gain Performance are also analyzed. At last, the validity of theoretical results are proven via two examples.
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Dwell-time conditions for exponential stability and standard L1-Gain Performance of discrete-time singular switched positive systems with time-varying delays
Nonlinear Analysis: Hybrid Systems, 2020Co-Authors: Zhengrong Xiang, Junfeng ZhangAbstract:Abstract This paper addresses the dwell-time issues on exponential stability and standard L 1 -Gain Performance of discrete-time singular switched positive systems with time-varying delays. The dwell-time constraints refer to mode-dependent minimum dwell time(MDMDT), mode-dependent constant dwell time(MDCDT) and mode-dependent ranged dwell time(MDRDT). At first, a sufficient delay-dependent condition of exponential stability for delayed singular switched positive systems under three different kinds of dwell time constraints: MDMDT, MDCDT and MDRDT, is provided, respectively. Then, considering the disturbance attenuation Performance, a sufficient condition of standard L 1 -Gain Performance for delayed SSPSs with dwell-time constraints: MDMDT, MDCDT and MDRDT, is proposed, respectively. Meanwhile, the corresponding dwell-time results of exponential stability and standard L 1 -Gain Performance for the system in delay-free case is also presented. Four examples are finally presented to show the feasibility and effectiveness of the obtained results.
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Robust model predictive control with ℓ1-Gain Performance for positive systems
Journal of the Franklin Institute, 2015Co-Authors: Junfeng Zhang, Xiushan Cai, Wei Zhang, Zhengzhi HanAbstract:Abstract This paper is concerned with robust model predictive control for positive systems. The technique of model predictive control is extended to the context of positive systems. By using the linear copositive Lyapunov function approach, a robust model predictive controller for positive systems is first constructed. Being unlike the classic robust control with l 2 -Gain Performance, the robustness of the underlying systems is guaranteed by means of l 1 -Gain Performance. In order to increase the feasibility of the present conditions, a multi-step control strategy is then utilized. Accordingly, a cone invariant set is addressed to satisfy the recursive feasibility of the present design. All present conditions can be described by linear programming. Meanwhile, the main computation of these conditions is completely off-line, by which the computational burden is reduced. Finally, an illustrative example is given to show the effectiveness of the design.
M. Fujita - One of the best experts on this subject based on the ideXlab platform.
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Passivity-based dynamic visual feedback control for three dimensional target tracking: stability and L/sub 2/-Gain Performance analysis
Proceedings of the 2004 American Control Conference, 2004Co-Authors: H. Kawai, M. FujitaAbstract:This paper investigates vision-based robot control based on the passivity for the three dimensional target tracking. Firstly, the fundamental representation between the moving target object and the camera is derived from the relation among the three coordinate frames. Next, we consider the observer which is reproduced from the fundamental representation of relative rigid body motion just as Luenberger observer for linear systems. Then, the relationship between the estimation error in the 3D workspace and in the image plane is established. Secondly, we derive the passivity of the dynamic visual feedback system by combining the passivity of both the visual feedback system and the manipulator dynamics. The stability via Lyapunov method for the full 3D dynamic visual feedback system is discussed based on the passivity. Finally, the L/sub 2/-Gain Performance analysis for the disturbance attenuation problem is considered via the dissipative systems theory.
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L/sub 2/-Gain Performance analysis for nonlinear robust visual servo control
Proceedings of the 1998 American Control Conference. ACC (IEEE Cat. No.98CH36207), 1998Co-Authors: A. Maruyama, M. FujitaAbstract:In this paper, we deal with disturbance attenuation property of an asymptotically stable nonlinear controller for the visual servo systems. First, based on Lyapunov stability theory, we propose the exponentially stable controller without the external disturbances. Next, we show that the controller achieves disturbance attenuation in the L/sub 2/-Gain sense; that is, the L/sub 2/-Gain of the closed loop system can be made sufficiently small with a suitable selection of the feedback Gains. Finally, the usefulness of the controller and the L/sub 2/-Gain Performance analysis are confirmed by experiments using an industrial manipulator.
Shunya Nagai - One of the best experts on this subject based on the ideXlab platform.
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IECON - An LMI-based Design Method of a Variable Gain Robust Controller Giving Consideration to Nominal $\mathcal{L}_{2}$ Gain Performance and Allowable Uncertainty Region for a Class of Uncertain Linear Systems
IECON 2018 - 44th Annual Conference of the IEEE Industrial Electronics Society, 2018Co-Authors: Shunya Nagai, Hidetoshi Oya, Tsuyoshi Matsuki, Yoshikatsu HoshiAbstract:In this paper, we propose an LMI-based design method of a variable Gain robust controller giving consideration to nominal $\mathcal{L}_{2}$ Gain Performance and allowable uncertainty region for a class of uncertain linear systems. The proposed robust controller consists of a fixed Gain designed by considering guaranteed $\mathcal{L}_{2}$ Gain Performance for the nominal system and an adjustable parameter tuned by adjustment laws. Moreover, the sufficient condition for the existence of the proposed variable Gain robust controller is given in terms of linear matrix inequalities (LMIs). Finally, we present a numerical example.
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ICARCV - Synthesis of Point Memory-Based Adaptive Gain Robust Controllers with Guaranteed $\mathcal{L}_{2}$ Gain Performance for a Class of Uncertain Time-Delay Systems
2018 15th International Conference on Control Automation Robotics and Vision (ICARCV), 2018Co-Authors: Hidetoshi Oya, Shunya Nagai, Tsuyoshi Matsuki, Yoshikatsu HoshiAbstract:This paper proposes a point memory-based adaptive Gain robust controller with $\mathcal{L}_{2}$ Gain Performance for a class of uncertain linear systems with state delays. The point memory adaptive Gain robust controller presented in this paper consists of a fixed Gain controller and a adaptive Gain one. In this paper, we show that LMI-based sufficient conditions for the existence of the proposed adaptive Gain robust controller are presented. Finally, a simple illustrative example is included to show the effectiveness of the proposed robust control system.
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A new variable Gain robust controller giving consideration to nominal L 2 Gain Performance for linear systems with structured uncertainties
2017 International Conference on Inventive Systems and Control (ICISC), 2017Co-Authors: Shunya Nagai, Hidetoshi Oya, Tomohiro Kubo, Tsuyoshi MatsukiAbstract:In this paper, we propose a new variable Gain robust controller giving consideration to nominal L 2 Gain Performance for a class of uncertain linear systems. The proposed robust controller consists of a fixed Gain designed by considering guaranteed L 2 Gain Performance for the nominal system and an adjustable parameter tuned by updating laws. Furthermore, we show that sufficient conditions for the existence of the proposed controller are reduced to feasibility of LMIs. At last, a numerical example is presented.
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Decentralized Variable Gain Robust Controllers with Guaranteed L2 Gain Performance for a Class of Uncertain Large-Scale Interconnected Systems with State Delays
MATEC Web of Conferences, 2016Co-Authors: Shunya Nagai, Hidetoshi Oya, Tomohiro KuboAbstract:In this paper, we propose a decentralized variable Gain robust controller with guaranteed L 2 Gain Performance for a class of uncertain large-scale interconnected systems with state delays. The proposed decentralized robust controller consists of a fixed Gain and a variable Gain tuned by parameter adjustment laws. In this paper, it is shown that sufficient conditions for the existence of the proposed decentralized variable Gain robust control system are given in terms of LMIs. Finally, a simple illustrative example is shown.
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Synthesis of decentralized variable Gain robust controllers with guaranteed ℒ 2 Gain Performance for a class of uncertain large-scale interconnected systems
Journal of Control Science and Engineering, 2015Co-Authors: Shunya Nagai, Hidetoshi OyaAbstract:We consider a design problem of a decentralized variable Gain robust controller with guaranteed L2 Gain Performance for a class of uncertain large-scale interconnected systems. For the uncertain large-scale interconnected system, the uncertainties and the interactions satisfy the matching condition. In this paper, we show that sufficient conditions for the existence of the proposed decentralized variable Gain robust controller with guaranteed L2 Gain Performance are given in terms of linear matrix inequalities (LMIs). Finally, simple illustrative examples are shown.
