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Tracking Controller for Moving Targets in Robotic Systems: A Vector Lyapunov Approach

Mishra, Hrishik and De Stefano, Marco and Giordano, Alessandro Massimo and Ott, Christian (2018) Tracking Controller for Moving Targets in Robotic Systems: A Vector Lyapunov Approach. In: IFAC Proceedings Volumes (IFAC-PapersOnline), 51 (22), pp. 471-478. ScienceDirect. 12th IFAC Symposium on Robot Control SYROCO, 27-30 Aug 2018, Budapest, Hungary. DOI: 10.1016/j.ifacol.2018.11.589. ISSN 2405-8963

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Official URL: https://www.sciencedirect.com/science/article/pii/S2405896318332968

Abstract

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.

Item URL in elib:https://elib.dlr.de/124893/
Document Type:Conference or Workshop Item (Speech)
Title:Tracking Controller for Moving Targets in Robotic Systems: A Vector Lyapunov Approach
Authors:
AuthorsInstitution or Email of AuthorsAuthors ORCID iD
Mishra, Hrishikhrishik.mishra (at) dlr.dehttps://orcid.org/0000-0002-5025-2447
De Stefano, Marcomarco.destefano (at) dlr.dehttps://orcid.org/0000-0003-3777-9487
Giordano, Alessandro MassimoAlessandro.Giordano (at) dlr.dehttps://orcid.org/0000-0003-2291-7525
Ott, ChristianChristian.Ott (at) dlr.dehttps://orcid.org/0000-0003-0987-7493
Date:2018
Journal or Publication Title:IFAC Proceedings Volumes (IFAC-PapersOnline)
Refereed publication:Yes
Open Access:No
Gold Open Access:No
In SCOPUS:Yes
In ISI Web of Science:No
Volume:51
DOI :10.1016/j.ifacol.2018.11.589.
Page Range:pp. 471-478
Publisher:ScienceDirect
Series Name:IFAC-PapersOnLine
ISSN:2405-8963
Status:Published
Keywords:Lyapunov methods, Robot vision, Interconnected systems, Space robotics, State observers, Tracking systems
Event Title:12th IFAC Symposium on Robot Control SYROCO
Event Location:Budapest, Hungary
Event Type:international Conference
Event Dates:27-30 Aug 2018
Organizer:IFAC
HGF - Research field:Aeronautics, Space and Transport
HGF - Program:Space
HGF - Program Themes:Space Technology
DLR - Research area:Raumfahrt
DLR - Program:R SY - Technik für Raumfahrtsysteme
DLR - Research theme (Project):On-Orbit Servicing
Location: Oberpfaffenhofen
Institutes and Institutions:Institute of Robotics and Mechatronics (since 2013) > Analysis and Control of Advanced Robotic Systems
Deposited By: Mishra, Hrishik
Deposited On:11 Dec 2018 23:04
Last Modified:20 Dec 2018 09:58

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