Murao, Toshiyuki (Tokyo Inst. of Tech.), Fujita, Masayuki (Tokyo Inst. of Tech.)

Stabilizing Receding Horizon Control for Three Dimensional Visual Feedback System with Fixed Camera Configuration

Scheduled for presentation during the Regular Session "Model Predictive Control II" (TuA10), Tuesday, July 25, 2006, 11:40−12:05, Room 103

17th International Symposium on Mathematical Theory of Networks and Systems, July 24-28, 2006, Kyoto, Japan

This information is tentative and subject to change. Compiled on May 27, 2023

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 fixed camera 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.