On discrete-time uncertain visual based control of planar manipulators: An on-line algebraic identification approach

Proceedings of the IEEE Conference on Decision and Control

Volumn 4, Issue , 2002, Pages 4509-4514

  Sira Ramírez, Hebertt ^a   Fliess, Michel ^b  

^a DEPARTAMENTO DE FÍSICA   (Mexico)

^b Paris Descartes University   (France)

Author keywords

Algebraic identification; Robotic manipulators; Visual based control

Indexed keywords

CLOSED LOOP CONTROL SYSTEMS; COMPUTER SIMULATION; COMPUTER VISION; DISCRETE TIME CONTROL SYSTEMS; END EFFECTORS; MANIPULATORS; POSITION CONTROL; ROBUSTNESS (CONTROL SYSTEMS); UNCERTAIN SYSTEMS; VIDEO CAMERAS;

DISCRETE-TIME UNCERTAIN VISUAL BASED CONTROL; ON-LINE ALGEBRAIC IDENTIFICATION APPROACH; PLANAR MANIPULATORS;

IDENTIFICATION (CONTROL SYSTEMS);

EID: 0242584963     PISSN: 01912216     EISSN: None     Source Type: Conference Proceeding    
DOI: None     Document Type: Conference Paper

References (8)

1. B. Allota and C. Colombo, "On the use of linar camera-object models in visual servoing" IEEE Transactions on Robotics and Automation, Vol. 15, No. 2, pp. 346-352, 1999.
2. B. Bishop and M. Spong, "Adaptive calibration and control of 2D monocular visual servo systems" in Proc. of the IFAC Symposium on Robot Control, Nantes, France, September 3-5, 1997.
3. M. Flies and H. Sira-Ramírez, "An algebraic framework for linear identification" ESAIM Control and Calculus of Variations (submitted for publication)
4. L. Hsu, A.R. Lopez-Zachi and F. Lizarralde "Adaptive visual tracking for motions on smooth surfaces" Proc. of the 40th IEEE Conf. on Decision and Control, Orlando, Florida, USA, December 2001.
5. S. Hutchinson, G. Dager and P. I. Coke, "A tutorial on visual servo control" IEEE Transactions on Robotics and Automation, Vol. 12, No. 5, 1996.
6. A. Murayama and M. Fujita, "Visual feedback control of rigid body motion based on dissipation theoretical approach" in Proc. of the 38th Conference on Decision and Control, Phoenix, Arizona, December 1999.
7. H. Sira-Ramírez, E. Fossas and M. Fliess, "On the control of an uncertain, double bridge buck converter: An algebraic parameter identification approach" 41st IEEE Conference on Decision and Control, Las Vegas, Nevada, December 2002.
8. E. Zergeroglu, D.M. Dawson, M.S. Queiroz, and S. Nagarkatti, "Robust visual-servo control of robot manipulators in the presence of unceretainty" in Proceedings of the 38th IEEE Conference on Decision and Control, Phoenix, AZ, USA, December 1999. pp. 4137-4142.