Visual feedback control of nonlinear robotics systems via stabilizing receding horizon control approach

Author

Kawai, Hiroyuki ; Fujita, Masayuki

Author_Institution

Dept. of Electr. & Electron. Eng., Kanazawa Univ., Japan

Volume

3

fYear

2001

fDate

2001

Firstpage

2418

Abstract

This paper investigates a robot motion control with visual information via the nonlinear receding horizon control approach. Firstly the model of the relative rigid body motion and the nonlinear observer are considered in order to derive the visual feedback system. Secondly the stabilizing feedback control law for the closed-loop is discussed as a preparation for our main result. Finally we propose the stabilizing receding horizon control scheme for the 3D visual feedback control problem by using an appropriate control Lyapunov function as the end point penalty. The proposed scheme employs the cost function as a Lyapunov function for establishing stability

Keywords

Lyapunov methods; closed loop systems; feedback; manipulators; model reference adaptive control systems; nonlinear control systems; observers; predictive control; robot vision; stability; 3D visual feedback control; closed-loop control; control Lyapunov function; end point penalty; nonlinear observer; nonlinear receding horizon control approach; nonlinear robotics systems; stabilizing feedback control law; stabilizing receding horizon control; visual feedback control; Control systems; Cost function; Feedback control; Lyapunov method; Motion control; Nonlinear control systems; Nonlinear systems; Robot control; Robot vision systems; Stability;

fLanguage

English

Publisher

ieee

Conference_Titel

Decision and Control, 2001. Proceedings of the 40th IEEE Conference on

Conference_Location

Orlando, FL

Print_ISBN

0-7803-7061-9

Type

conf

DOI

10.1109/.2001.980625

Filename

980625