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/ | |||||||||||||||
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Document Type: | Conference or Workshop Item (Speech) | |||||||||||||||
Title: | Tracking Controller for Moving Targets in Robotic Systems: A Vector Lyapunov Approach | |||||||||||||||
Authors: |
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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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