Abstract
This paper investigates vision-based robot control via a receding horizon control strategy for fixed camera systems, as stabilizing predictive visual feedback control. First, a visual motion robot error system with a fixed camera configuration is reconstructed in order to improve estimation performance. Next, stabilizing receding horizon control for three-dimensional visual feedback systems, which are highly nonlinear and relatively fast systems, is proposed. The stability of the receding horizon control scheme is guaranteed by using a terminal cost derived from an energy function of the visual motion robot error system. Furthermore, simulation and actual nonlinear experimental results are assessed with respect to stability and performance.
| Original language | English |
|---|---|
| Pages (from-to) | 1-11 |
| Number of pages | 11 |
| Journal | Electronics and Communications in Japan |
| Volume | 94 |
| Issue number | 8 |
| DOIs | |
| Publication status | Published - 2011 Aug |
Keywords
- control Lyapunov function
- passivity
- receding horizon control
- stability
- visual feedback control
ASJC Scopus subject areas
- Electrical and Electronic Engineering
- Computer Networks and Communications
- Physics and Astronomy(all)
- Signal Processing
- Applied Mathematics