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	2023/08
形態種別	学術雑誌
査読	査読あり
標題	Sampled Visual Feedback Pose Estimation and Regulation Based on Camera Frame Rates
執筆形態	共著(筆頭者)
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	16(1),pp.297-309
総ページ数	13
担当区分	筆頭著者,責任著者
著者・共著者	Tatsuya Ibuki, Satoshi Nakano, Shunsuke Shigaki, Takeshi Hatanaka
概要	This paper presents visual feedback 3D pose estimation/regulation methodologies under the situation that visual measurements are sampled due to the frame rates. The problem settings are first provided. Then, the pose estimation/regulation methods with sampled visual measurements are proposed. The convergence/performance analysis is conducted by the fusion of a Lyapunov-based approach and an event-triggered control technique. The present analysis scheme provides us guidelines for the design of estimation/control gains guaranteeing desired convergence/performance. The effectiveness of the present technique is verified via simulation and an experiment with real hardware.