Stabilizing predictive visual feedback control for fixed camera systems

Toshiyuki Murao, Hiroyuki Kawai, Masayuki Fujita

Research output: Contribution to journalArticle

6 Citations (Scopus)

Abstract

This paper investigates vision-based robot control via a receding horizon control strategy for fixed camera systems, as stabilizing predictive visual feedback control. First, a visual motion robot error system with a fixed camera configuration is reconstructed in order to improve estimation performance. Next, stabilizing receding horizon control for three-dimensional visual feedback systems, which are highly nonlinear and relatively fast systems, is proposed. The stability of the receding horizon control scheme is guaranteed by using a terminal cost derived from an energy function of the visual motion robot error system. Furthermore, simulation and actual nonlinear experimental results are assessed with respect to stability and performance.

Original languageEnglish
Pages (from-to)1-11
Number of pages11
JournalElectronics and Communications in Japan
Volume94
Issue number8
DOIs
Publication statusPublished - 2011 Aug

Keywords

  • control Lyapunov function
  • passivity
  • receding horizon control
  • stability
  • visual feedback control

ASJC Scopus subject areas

  • Electrical and Electronic Engineering
  • Computer Networks and Communications
  • Physics and Astronomy(all)
  • Signal Processing
  • Applied Mathematics

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