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Erschienen in:
2007 | OriginalPaper | Buchkapitel
An Experimental Study of Stabilizing Receding Horizon Control of Visual Feedback System with Planar Manipulators
verfasst von : Masayuki Fujita, Toshiyuki Murao, Yasunori Kawai, Yujiro Nakaso
Erschienen in: Assessment and Future Directions of Nonlinear Model Predictive Control
Verlag: Springer Berlin Heidelberg
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This paper investigates vision based robot control based on a receding horizon control strategy. 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. By applying the proposed control scheme to a two-link direct drive manipulator with a CCD camera, it is shown that the stabilizing receding horizon control nicely works for a planar visual feedback system. Furthermore, actual nonlinear experimental results are assessed with respect to the stability and the performance.