Predictive Visual Feedback Control with Eye-in-Hand System via Stabilizing Receding Horizon Approach
Toshiyuki Murao, Teruki Yamada, Masayuki Fujita · 2006
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