Predictive visual feedback control with eye-in-hand system via stabilizing receding horizon approach

Toshiyuki Murao, Teruki Yamada, Masayuki Fujita

Research output: Chapter in Book/Report/Conference proceedingConference contribution

14 Citations (Scopus)

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.

Original languageEnglish
Title of host publicationProceedings of the IEEE Conference on Decision and Control
Pages1758-1763
Number of pages6
Publication statusPublished - 2006
Event45th IEEE Conference on Decision and Control 2006, CDC - San Diego, CA
Duration: 2006 Dec 132006 Dec 15

Other

Other45th IEEE Conference on Decision and Control 2006, CDC
CitySan Diego, CA
Period06/12/1306/12/15

ASJC Scopus subject areas

  • Control and Systems Engineering
  • Safety, Risk, Reliability and Quality
  • Chemical Health and Safety

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  • Cite this

    Murao, T., Yamada, T., & Fujita, M. (2006). Predictive visual feedback control with eye-in-hand system via stabilizing receding horizon approach. In Proceedings of the IEEE Conference on Decision and Control (pp. 1758-1763). [4177582]