視覚フィードバックによるリーダ追尾型姿勢協調制御

抄録

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.