視覚を用いた多項式空間上の受動性に基づく液面振動制御実験

Abstract

In this paper, we propose a pseudo-passivity based control on polynomial space. First, we identify a model of a liquid sloshing system using a robotic vision and convert the model into a physical system on a polynomial space. Second, we design a passivity based control with a state-dependent gain to stabilize the horizontal surface asymptotically on polynomial space. Finally, we confirm the validity of the proposed method by visual feedback for the liquid sloshing system.