TY - JOUR
T1 - Stabilizing predictive visual feedback control for fixed camera systems
AU - Murao, Toshiyuki
AU - Kawai, Hiroyuki
AU - Fujita, Masayuki
PY - 2009
Y1 - 2009
N2 - This paper investigates a vision based robot control via a receding horizon control strategy for fixed camera systems, as a stabilizing predictive visual feedback control. Firstly, a 3D dynamic visual feedback system with a fixed camera configuration is reconstructed in order to improve performance of 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 the energy function of the dynamic visual feedback system. Furthermore, simulation and actual nonlinear experimental results are assessed with respect to the stability and the performance.
AB - This paper investigates a vision based robot control via a receding horizon control strategy for fixed camera systems, as a stabilizing predictive visual feedback control. Firstly, a 3D dynamic visual feedback system with a fixed camera configuration is reconstructed in order to improve performance of 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 the energy function of the dynamic visual feedback system. Furthermore, simulation and actual nonlinear experimental results are assessed with respect to the stability and the performance.
KW - Control lyapunov function
KW - Passivity
KW - Receding horizon control
KW - Stability
KW - Visual feedback control
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U2 - 10.1541/ieejeiss.129.630
DO - 10.1541/ieejeiss.129.630
M3 - Article
AN - SCOPUS:67651174804
SN - 0385-4221
VL - 129
JO - IEEJ Transactions on Electronics, Information and Systems
JF - IEEJ Transactions on Electronics, Information and Systems
IS - 4
ER -