Model predictive control to improve visual control of motion: applications in active tracking of moving targets

Deals with active tracking of 3D moving targets. Visual tracking is presented as a regulation control problem. The performance and robustness in visual control of motion depends both on the vision algorithms and the control structure. Delays and system latencies substantially affect the performance of visually guided systems. We discuss ways to cope with delays while improving system performance. Model predictive control strategies are proposed to compensate for the mechanical latency in visual control of motion