IBUKI TATSUYA    Department   Undergraduate School  , School of Science and Technology    Position   Associate Professor
Language	English
Publication Date	2017/05
Type	Academic Journal
Peer Review	Peer reviewed
Title	Visual Feedback Position Tracking and Attitude Analysis of Two-Wheeled Vehicles Integrating a Target Vehicle Motion Model
Contribution Type	Co-authored (other than first author)
Journal	SICE Journal of Control, Measurement, and System Integration
Journal Type	Another Country
Publisher	The Society of Instrument and Control Engineers (SICE)
Volume, Issue, Page	10(3),pp.204-213
Total page number	10
Author and coauthor	Satoshi Nakano, Tatsuya Ibuki, Mitsuji Sampei
Details	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.