Abstract
This paper investigates vision based robot control based on a receding horizon control strategy, as a first step for a predictive visual feedback control. Firstly, the brief summary of the 3D dynamic visual feedback system with eye-in-hand configuration is given. Next, a stabilizing receding horizon control for the 3D dynamic visual feedback system, a highly nonlinear and relatively fast system, is proposed. The stability of the receding horizon control scheme is guaranteed by using the terminal cost derived from an energy function of the visual feedback system. Furthermore, simulation results are assessed with respect to the stability and the performance.
| Original language | English |
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| Title of host publication | Proceedings of the IEEE Conference on Decision and Control |
| Pages | 1758-1763 |
| Number of pages | 6 |
| Publication status | Published - 2006 |
| Event | 45th IEEE Conference on Decision and Control 2006, CDC - San Diego, CA Duration: 2006 Dec 13 → 2006 Dec 15 |
Other
| Other | 45th IEEE Conference on Decision and Control 2006, CDC |
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| City | San Diego, CA |
| Period | 06/12/13 → 06/12/15 |
ASJC Scopus subject areas
- Control and Systems Engineering
- Safety, Risk, Reliability and Quality
- Chemical Health and Safety