کد مقاله کد نشریه سال انتشار مقاله انگلیسی نسخه تمام متن
708039 1461038 2006 25 صفحه PDF دانلود رایگان
عنوان انگلیسی مقاله ISI
Towards an LMI Approach to Multicriteria Visual Servoing in Robotics *
موضوعات مرتبط
مهندسی و علوم پایه سایر رشته های مهندسی کنترل و سیستم های مهندسی
پیش نمایش صفحه اول مقاله
Towards an LMI Approach to Multicriteria Visual Servoing in Robotics *
چکیده انگلیسی

This paper attempts to propose a general framework to the multicriteria analysis and synthesis of visual servoing schemes in robotics. Two of the most prominent control strategies are unified under a common state-space representation, which is highly nonlinear and possibly uncertain. This model is then embedded into a Linear Differential Inclusion with linear fractional uncertainty, so that the problem can be tackled in a robust linear control context. Many visual servoing requirements can be dealt with, e.g. convergence, avoidance of actuators saturations, image and 3D contraints.Existing work on the analysis and control of rational systems through quadratic Lyapunov functions is a seminal basis to the approach. As the symmetry and convexity properties of the consequent ellipsoidal invariant sets is penalizing in this robotics context, some extensions are presented, which can be of independent interest.When possible, the criteria are dealt with through Linear Matrix Inequalities.

ناشر
Database: Elsevier - ScienceDirect (ساینس دایرکت)
Journal: European Journal of Control - Volume 12, Issue 1, 2006, Pages 86-110