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	日本語
発行・発表の年月	2011/07
形態種別	学術雑誌
査読	査読あり
標題	視覚フィードバックによるリーダ追尾型姿勢協調制御
執筆形態	共著(筆頭者)
掲載誌名	システム制御情報学会論文誌
掲載区分	国内
出版社・発行元	システム制御情報学会
巻・号・頁	24(7),155-164頁
総ページ数	10
担当区分	筆頭著者,責任著者
著者・共著者	伊吹竜也，畑中健志，藤田政之
概要	In this paper we investigate visual feedback attitude synchronization in leader-follower type visibility structures on the Special Euclidean group SE(3). We first define visual robotic networks consisting of the dynamics describing rigid body motion, visibility structures among bodies and visual measurements. We then propose a visual feedback attitude synchronization law combining a vision-based observer with the attitude synchronization law presented in our previous works. We then prove that when the leader does not rotate, the visual robotic network with the control law achieves visual feedback attitude synchronization. Moreover, for a rotating leader, we evaluate the tracking performance of the other bodies. In analysis, we employ the notion of input-to-state stability and L2-gain performance regarding the leader’s angular velocity as an external disturbance. Finally, the validity of the proposed control law and the analysis is demonstrated through simulations.