会議発表論文 Performance Analysis of Visual Feedback Leader-Following Pose Synchronization with Stochastic Uncertain Leader in Three Dimensions

山内, 淳矢  ,  Yamauchi, Junya  ,  木崎, 一宏  ,  Kizaki, Kazuhiro  ,  伊吹, 竜也  ,  Ibuki, Tatsuya  ,  畑中, 健志  ,  Hatanaka, Takeshi  ,  藤田, 政之  ,  FUJITA, Masayuki

内容記述
This paper presents the performance analysis of visual feedback leader-following pose synchronization, where the leader motion is supposed to contain stochastic factors. Then, the problem is reformulated in stochastic system form and stochastic stability analyses are provided. Here, time evolution of the control error system produced by the present visual feedback control is given by stochastic differential equations on SE(3). In the control error analysis, the notion of practically stochastic input-to-state stability is introduced. Moreover, L2 norm inequalities are employed for tracking performance evaluation. Finally, simulation verification is conducted, and the visual feedback control is implemented in a testbed.

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