Visual motion observer-based stabilizing receding horizon control via image space navigation function

Toshiyuki Murao, Hiroyuki Kawai, Masayuki Fujita

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

6 Citations (Scopus)

Abstract

This paper investigates stabilizing receding horizon control via an image space navigation function for a three-dimensional (3-D) visual feedback system. Firstly, a brief summary of a visual motion observer is given. Next, a visual motion error system is reconstructed in order to apply to time-varying desired motion. Then, visual motion observer-based stabilizing receding horizon control for the 3-D visual feedback system, highly nonlinear and relatively fast system, is proposed. Moreover, a path planner to be appropriate for the visual motion error system is designed through the image space navigation function to keep all features into a camera field of view. Finally, simulation results are shown in order to confirm the proposed method.

Original languageEnglish
Title of host publicationProceedings of the IEEE International Conference on Control Applications
Pages1648-1653
Number of pages6
DOIs
Publication statusPublished - 2010
Event2010 IEEE International Conference on Control Applications, CCA 2010 - Yokohama
Duration: 2010 Sep 82010 Sep 10

Other

Other2010 IEEE International Conference on Control Applications, CCA 2010
CityYokohama
Period10/9/810/9/10

ASJC Scopus subject areas

  • Control and Systems Engineering
  • Computer Science Applications
  • Mathematics(all)

Fingerprint Dive into the research topics of 'Visual motion observer-based stabilizing receding horizon control via image space navigation function'. Together they form a unique fingerprint.

  • Cite this

    Murao, T., Kawai, H., & Fujita, M. (2010). Visual motion observer-based stabilizing receding horizon control via image space navigation function. In Proceedings of the IEEE International Conference on Control Applications (pp. 1648-1653). [5611200] https://doi.org/10.1109/CCA.2010.5611200