H_∞フィルタを用いた内部安定な出力レギュレーション制御

視覚サーボシステムによる実験的考察

抄録

This paper presents the visual servoing using the H_∞ filter with verification of effectiveness of the robust filtering method. We show that the H_∞ filter is useful for a real system as the robust estimator against disturbances. We first describe the model of a visual servoing system by the relation between the moving target and the camera. Next, we apply the H_∞ filter to the system to estimate the velocity of the target and the relative position of the camera and the target. Finally, we make the comparative experiments between the H_∞ filter and the Kalman filter. The real-time experimental results show the effectiveness of the proposed method.