Mishra, Hrishik und De Stefano, Marco und Giordano, Alessandro Massimo und Ott, Christian (2018) Tracking Control with Robotic Systems for a Moving Target: A Vector Lyapunov Function Approach. In: IFAC Proceedings Volumes (IFAC-PapersOnline), 51 (22), Seiten 471-478. ScienceDirect. 12th IFAC Symposium on Robot Control SYROCO, 2018-08-27 - 2018-08-30, Budapest, Hungary. doi: 10.1016/j.ifacol.2018.11.589. ISSN 2405-8963.
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Offizielle URL: https://www.sciencedirect.com/science/article/pii/S2405896318332968
Kurzfassung
In this paper, we develop a controller for tracking a moving target using a manipulator equipped with a vision-sensor at the end-effector. The proposed control system is composed of a velocity observer, a position-based visual servo (PBVS) and a proportional-derivative (PD+) controller. This is analyzed as an interconnected system where input-to-state stability is proved for PBVS and PD+ subsystems, and the overall stability is proved using vector Lyapunov functions. The analysis technique aids the determination of control parameters which defines the response of the whole system. A simplified notion of a manipulator is used to develop the theory and the application is demonstrated through simulation results in the context of On-orbit Servicing where the objective is to track a non-cooperative tumbling satellite with a free-floating space manipulator.
elib-URL des Eintrags: | https://elib.dlr.de/124893/ | ||||||||||||||||||||
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Dokumentart: | Konferenzbeitrag (Vortrag) | ||||||||||||||||||||
Titel: | Tracking Control with Robotic Systems for a Moving Target: A Vector Lyapunov Function Approach | ||||||||||||||||||||
Autoren: |
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Datum: | 2018 | ||||||||||||||||||||
Erschienen in: | IFAC Proceedings Volumes (IFAC-PapersOnline) | ||||||||||||||||||||
Referierte Publikation: | Ja | ||||||||||||||||||||
Open Access: | Nein | ||||||||||||||||||||
Gold Open Access: | Nein | ||||||||||||||||||||
In SCOPUS: | Ja | ||||||||||||||||||||
In ISI Web of Science: | Nein | ||||||||||||||||||||
Band: | 51 | ||||||||||||||||||||
DOI: | 10.1016/j.ifacol.2018.11.589 | ||||||||||||||||||||
Seitenbereich: | Seiten 471-478 | ||||||||||||||||||||
Verlag: | ScienceDirect | ||||||||||||||||||||
Name der Reihe: | IFAC-PapersOnLine | ||||||||||||||||||||
ISSN: | 2405-8963 | ||||||||||||||||||||
Status: | veröffentlicht | ||||||||||||||||||||
Stichwörter: | Lyapunov methods, Robot vision, Interconnected systems, Space robotics, State observers, Tracking systems | ||||||||||||||||||||
Veranstaltungstitel: | 12th IFAC Symposium on Robot Control SYROCO | ||||||||||||||||||||
Veranstaltungsort: | Budapest, Hungary | ||||||||||||||||||||
Veranstaltungsart: | internationale Konferenz | ||||||||||||||||||||
Veranstaltungsbeginn: | 27 August 2018 | ||||||||||||||||||||
Veranstaltungsende: | 30 August 2018 | ||||||||||||||||||||
Veranstalter : | IFAC | ||||||||||||||||||||
HGF - Forschungsbereich: | Luftfahrt, Raumfahrt und Verkehr | ||||||||||||||||||||
HGF - Programm: | Raumfahrt | ||||||||||||||||||||
HGF - Programmthema: | Technik für Raumfahrtsysteme | ||||||||||||||||||||
DLR - Schwerpunkt: | Raumfahrt | ||||||||||||||||||||
DLR - Forschungsgebiet: | R SY - Technik für Raumfahrtsysteme | ||||||||||||||||||||
DLR - Teilgebiet (Projekt, Vorhaben): | On-Orbit Servicing (alt) | ||||||||||||||||||||
Standort: | Oberpfaffenhofen | ||||||||||||||||||||
Institute & Einrichtungen: | Institut für Robotik und Mechatronik (ab 2013) > Analyse und Regelung komplexer Robotersysteme | ||||||||||||||||||||
Hinterlegt von: | Mishra, Hrishik | ||||||||||||||||||||
Hinterlegt am: | 11 Dez 2018 23:04 | ||||||||||||||||||||
Letzte Änderung: | 24 Apr 2024 20:28 |
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