Abstract
This paper investigates vision based robot control via a receding horizon control strategy for an eye-in/to-hand system, as a predictive visual feedback control. Firstly, the dynamic visual feedback system with the eye-in/to-hand configuration is reconstructed in order to improve the performance of the estimation. 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 | IFAC Proceedings Volumes (IFAC-PapersOnline) |
| Volume | 17 |
| Edition | 1 PART 1 |
| DOIs | |
| Publication status | Published - 2008 |
| Event | 17th World Congress, International Federation of Automatic Control, IFAC - Seoul Duration: 2008 Jul 6 → 2008 Jul 11 |
Other
| Other | 17th World Congress, International Federation of Automatic Control, IFAC |
|---|---|
| City | Seoul |
| Period | 08/7/6 → 08/7/11 |
Keywords
- Information and sensor fusion
- Intelligent robotics
- Robots manipulators
ASJC Scopus subject areas
- Control and Systems Engineering