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Title
Japanese:視覚フィードバックによるリーダ追尾型姿勢協調制御 
English:Visual Feedback Leader-following Attitude Synchronization 
Author
Japanese: 伊吹竜也, 畑中健志, 藤田政之.  
English: Tatsuya Ibuki, Takeshi Hatanaka, Masayuki Fujita.  
Language Japanese 
Journal/Book name
Japanese:システム制御情報学会論文誌 
English: 
Volume, Number, Page Vol. 24    No. 7    pp. 155-164
Published date July 2011 
Publisher
Japanese:システム制御情報学会 
English: 
Conference name
Japanese: 
English: 
Conference site
Japanese: 
English: 
DOI https://doi.org/10.5687/iscie.24.155
Abstract In this paper we investigate visual feedback attitude synchronization in leader-follower type visibility structures on the Special Euclidean group SE(3). We first define visual robotic networks consisting of the dynamics describing rigid body motion, visibility structures among bodies and visual measurements. We then propose a visual feedback attitude synchronization law combining a vision-based observer with the attitude synchronization law presented in our previous works. We then prove that when the leader does not rotate, the visual robotic network with the control law achieves visual feedback attitude synchronization. Moreover, for a rotating leader, we evaluate the tracking performance of the other bodies. In analysis, we employ the notion of input-to-state stability and L2-gain performance regarding the leader’s angular velocity as an external disturbance. Finally, the validity of the proposed control law and the analysis is demonstrated through simulations.

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