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Title
Japanese: 
English:Performance Analysis of Visual Feedback Leader-Following Pose Synchronization with Stochastic Uncertain Leader in Three Dimensions 
Author
Japanese: 山内 淳矢, 木崎 一宏, 伊吹 竜也, 畑中 健志, Satoshi Satoh, 藤田 政之.  
English: Junya Yamauchi, Kazuhiro Kizaki, Tatsuya Ibuki, Takeshi Hatanaka, Satoshi Satoh, Masayuki Fujita.  
Language English 
Journal/Book name
Japanese: 
English:Proceedings of the 2017 IEEE Conference on Control Technology and Applications 
Volume, Number, Page         pp. 349-354
Published date Aug. 27, 2017 
Publisher
Japanese: 
English: 
Conference name
Japanese:2017 IEEE Conference on Control Technology and Applications 
English: 
Conference site
Japanese: 
English:Kohala Coast, Hawaii 
DOI https://doi.org/10.1109/CCTA.2017.8062487
Abstract This paper presents the performance analysis of visual feedback leader-following pose synchronization, where the leader motion is supposed to contain stochastic factors. Then, the problem is reformulated in stochastic system form and stochastic stability analyses are provided. Here, time evolution of the control error system produced by the present visual feedback control is given by stochastic differential equations on SE(3). In the control error analysis, the notion of practically stochastic input-to-state stability is introduced. Moreover, L2 norm inequalities are employed for tracking performance evaluation. Finally, simulation verification is conducted, and the visual feedback control is implemented in a testbed.

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