Stabilizing Receding Horizon Control for Three Dimensional Visual Feedback System with Fixed Camera Configuration
نویسندگان
چکیده
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. Keywords— Visual Feedback Control, Lyapunov Stability, Passivity, Receding Horizon Control
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