4documents trouvés
Management of visual signal loss during image based visual servoing
A.DURAND PETITEVILLE, S.DUROLA, V.CADENAT, M.COURDESSES
RAP
Rapport LAAS N°12730, Décembre 2012, 7p.
Diffusable
128866Multicriteria analysis of visual servos through rational systems, biquadratic Lyapunov functions, and LMIs
P.DANES, D.F.COUTHINO, S.DUROLA
RAP, GACS
Ouvrage (contribution) : Visual Servoing via Advanced Numerical Method, N°ISBN 978-1-84996-088-5, 2010, pp.169-188 , N° 09368
Diffusable
125411Rational systems and matrix inequalities to the multicriteria analysis of visual servos
S.DUROLA, P.DANES, D.F.COUTINHO, M.COURDESSES
RAP, Porto Alegre
Manifestation avec acte : IEEE International Conference on Robotics and Automation (ICRA 2009), Kobe (Japon), 12-17 Mai 2009, pp.1504-1509 , N° 08609
Diffusable
Plus d'informations
Mots-Clés / Keywords
Visual servoing; Multicriteria analysis; Rational systems; Differential algebraic representations; Linear matrix inequalities;
Set-membership filtering of uncertain discrete-time rational systems through recursive algebraic representations and LMIs
S.DUROLA, P.DANES, D.F.COUTINHO
RAP, Porto Alegre
Manifestation avec acte : 47th IEEE Conference on Decision and Control (CDC 2008), Cancun (Mexique), 9-11 Décembre 2008, pp.684-689 , N° 08171
Diffusable
Plus d'informations
Abstract
This paper is about robust filtering/prediction of nonlinear discrete-time systems with rational dependence on the state or uncertainty vectors. The problem is dealt with in a set-membership context, in that the system initial condition, the uncertainties, as well as the noises affecting the dynamics and the measurements are unknown but bounded. A new recursive approach to the prediction of confidence ellipsoids enclosing the state vector at each sampling time is proposed, based on the reformulation of the system model as a Recursive Algebraic Representation. The solution is expressed as a convex optimization problem under Linear Matrix Inequality (LMI) constraints. The method is assessed on some examples.
Mots-Clés / Keywords
Set-membership filtering/prediction; Nonlinear rational systems; Recursive algebraic representations; Linear matrix inequalities;