Title :
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
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;
Conference_Titel :
Decision and Control, 2001. Proceedings of the 40th IEEE Conference on
Conference_Location :
Orlando, FL
Print_ISBN :
0-7803-7061-9
DOI :
10.1109/.2001.980625
