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Title
Japanese: 
English:Visual Feedback Position Tracking and Attitude Analysis of Two-Wheeled Vehicles Integrating a Target Vehicle Motion Model 
Author
Japanese: 仲野 聡史, 伊吹 竜也, 三平 満司.  
English: Satoshi Nakano, Tatsuya Ibuki, Mitsuji Sampei.  
Language English 
Journal/Book name
Japanese: 
English:SICE Journal of Control, Measurement, and System Integration 
Volume, Number, Page Vol. 10    No. 3    pp. 204-213
Published date May 2017 
Publisher
Japanese: 
English:SICE 
Conference name
Japanese: 
English: 
Conference site
Japanese: 
English: 
Abstract This paper studies visual feedback position tracking control of two-wheeled vehicles in the situation that a camera and a target object are attached to the vehicles, respectively. Here, the body velocity of the target object vehicle is modeled as a Fourier series expansion. The relative position between the camera and the target object is controlled to the desired relative position. The present control law is based only on visual measurements, and the necessary information to implement the law is estimated from them. The asymptotic stability of the equilibrium of the total system including the internal attitude behavior is analyzed under some conditions of the target object vehicle velocity via stability theory of perturbed systems. Finally, a numerical simulation is conducted to show the effectiveness of the proposed method.

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