イブキ　タツヤ   IBUKI TATSUYA   伊吹　竜也    所属   明治大学  理工学部    職種   専任准教授
言語種別	英語
発行・発表の年月	2017/05
形態種別	学術雑誌
査読	査読あり
標題	Visual Feedback Position Tracking and Attitude Analysis of Two-Wheeled Vehicles Integrating a Target Vehicle Motion Model
執筆形態	共著(筆頭者以外)
掲載誌名	SICE Journal of Control, Measurement, and System Integration
掲載区分	国外
出版社・発行元	The Society of Instrument and Control Engineers (SICE)
巻・号・頁	10(3),pp.204-213
総ページ数	10
著者・共著者	Satoshi Nakano, Tatsuya Ibuki, Mitsuji Sampei
概要	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.