Visual Servoing via Nonlinear Predictive Control

In this chapter, image-based visual servoing is addressed via nonlinear model predictive control. The visual servoing task is formulated into a nonlinear optimization problem in the image plane. The proposed approach, named visual predictive control, can easily and explicitly take into account 2D and 3D constraints. Furthermore, the image prediction over a finite prediction horizon plays a crucial role for large displacements. This image prediction is obtained thanks to a model. The choice of this model is discussed. A nonlinear global model and a local model based on the interaction matrix are considered. Advantages and drawbacks of both models are pointed out. Finally, simulations obtained with a 6 degrees of freedom (DOF) free-flying camera highlight the capabilities and the efficiency of the proposed approach by a comparison with the classical image-based visual servoing.