An Experimental Study of Stabilizing Receding Horizon Control of Visual Feedback System with Planar Manipulators

Predictive Visual Feedback Control with Eye-in-Hand System via Stabilizing Receding Horizon Approach

“…Therefore, if w = 0, the equilibrium point x = 0 for the closed-loop system (13) and (15) is asymptotic stable, i.e., u k is a stabilizing control law for the system. The block diagram of the passivity based visual feedback control is shown in Fig.…”

“…The vector of the camera control error is defined as e c := 45th IEEE CDC, San Diego, USA, Dec. [13][14][15]2006 WeIP7.2…”

“…In this paper, as a first step for a predictive visual feedback control, stabilizing receding horizon control is applied to the 3D visual feedback system in [5], a highly nonlinear and relatively fast system. Compared with previous work [13], this 3D dynamic visual feedback system can treat not only the position but also the orientation, so the possible application area should be undoubtedly increasing. This represents a first step towards high performance visual servoing targeting more aggressive maneuvers.…”

“…In [13], the authors proposed stabilizing receding horizon control for the planar visual feedback system. However, the visual feedback system proposed in [13] is restricted to a planar manipulator, and this method can only treat the desired position problem. In this paper, as a first step for a predictive visual feedback control, stabilizing receding horizon control is applied to the 3D visual feedback system in [5], a highly nonlinear and relatively fast system.…”

“…With the incorporation of visual information, the system could anticipate the target's future position and be waiting there to intercept it [12]. In [13], the authors proposed stabilizing receding horizon control for the planar visual feedback system. However, the visual feedback system proposed in [13] is restricted to a planar manipulator, and this method can only treat the desired position problem.…”