Predictive Visual Feedback Control with Eye-in-Hand System via Stabilizing Receding Horizon Approach

Author

Murao, Toshiyuki ; Yamada, Teruki ; Fujita, Masayuki

Author_Institution

Inf. Syst. Archit., Adv. Inst. of Ind. Technol., Tokyo

fYear

2006

fDate

13-15 Dec. 2006

Firstpage

1758

Lastpage

1763

Abstract

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

Keywords

feedback; manipulators; nonlinear control systems; predictive control; robot vision; stability; 3D dynamic visual feedback system; eye-in-hand system; nonlinear system; predictive visual feedback control; stabilizing receding horizon control; vision based robot control; Control systems; Cost function; Feedback control; Manipulator dynamics; Nonlinear control systems; Nonlinear dynamical systems; Robot sensing systems; Robot vision systems; Stability; Visual servoing;

fLanguage

English

Publisher

ieee

Conference_Titel

Decision and Control, 2006 45th IEEE Conference on

Conference_Location

San Diego, CA

Print_ISBN

1-4244-0171-2

Type

conf

DOI

10.1109/CDC.2006.376702

Filename

4177582