TY - JOUR
T1 - Stabilizing predictive visual feedback control for fixed camera systems
AU - Murao, Toshiyuki
AU - Kawai, Hiroyuki
AU - Fujita, Masayuki
PY - 2011/8
Y1 - 2011/8
N2 - 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.
AB - 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.
KW - control Lyapunov function
KW - passivity
KW - receding horizon control
KW - stability
KW - visual feedback control
UR - http://www.scopus.com/inward/record.url?scp=79960774934&partnerID=8YFLogxK
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U2 - 10.1002/ecj.10357
DO - 10.1002/ecj.10357
M3 - Article
AN - SCOPUS:79960774934
SN - 1942-9533
VL - 94
SP - 1
EP - 11
JO - Electronics and Communications in Japan
JF - Electronics and Communications in Japan
IS - 8
ER -