An experimental study of stabilizing receding horizon control of visual feedback system with planar manipulators

Masayuki Fujita, Toshiyuki Murao, Yasunori Kawai, Yujiro Nakaso

Research output: Contribution to journalArticle

4 Citations (Scopus)

Abstract

This paper investigates vision based robot control based on a receding horizon control strategy. 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. By applying the proposed control scheme to a two-link direct drive manipulator with a CCD camera, it is shown that the stabilizing receding horizon control nicely works for a planar visual feedback system. Furthermore, actual nonlinear experimental results are assessed with respect to the stability and the performance.

Original languageEnglish
Pages (from-to)573-580
Number of pages8
JournalUnknown Journal
Volume358
Issue number1
DOIs
Publication statusPublished - 2007

ASJC Scopus subject areas

  • Library and Information Sciences

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