抄録
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.
| 本文言語 | English |
|---|---|
| ホスト出版物のタイトル | Proceedings of the IEEE Conference on Decision and Control |
| ページ | 1758-1763 |
| ページ数 | 6 |
| 出版ステータス | Published - 2006 |
| イベント | 45th IEEE Conference on Decision and Control 2006, CDC - San Diego, CA 継続期間: 2006 12月 13 → 2006 12月 15 |
Other
| Other | 45th IEEE Conference on Decision and Control 2006, CDC |
|---|---|
| City | San Diego, CA |
| Period | 06/12/13 → 06/12/15 |
ASJC Scopus subject areas
- 制御およびシステム工学
- 安全性、リスク、信頼性、品質管理
- 化学的な安全衛生