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Stabilizing predictive visual feedback control for fixed camera systems
Author(s) -
Murao Toshiyuki,
Kawai Hiroyuki,
Fujita Masayuki
Publication year - 2011
Publication title -
electronics and communications in japan
Language(s) - English
Resource type - Journals
SCImago Journal Rank - 0.131
H-Index - 13
eISSN - 1942-9541
pISSN - 1942-9533
DOI - 10.1002/ecj.10357
Subject(s) - control theory (sociology) , model predictive control , computer science , horizon , nonlinear system , stability (learning theory) , robot , motion control , artificial intelligence , computer vision , control (management) , mathematics , physics , geometry , quantum mechanics , machine learning
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. © 2011 Wiley Periodicals, Inc. Electron Comm Jpn, 94(8): 1–11, 2011; Published online in Wiley Online Library ( wileyonlinelibrary.com ). DOI 10.1002/ecj.10357