Visual feedback control of planar manipulators based on nonlinear receding horizon control approach

Author

Kawai, Hiroyuki ; Kawai, Yasunori ; Fujita, Masayuki

Author_Institution

Dept. of Electr. & Electron. Eng., Kanazawa Univ., Japan

Volume

2

fYear

2001

fDate

2001

Firstpage

763

Abstract

This paper deals with the vision-based robot motion control via the nonlinear receding horizon control approach. The visual feedback system consists of the manipulator dynamics and the image dynamics which is derived from the camera model. We propose the stabilizing receding horizon control scheme which is based on a control Lyapunov function and a corresponding feedback control law. The control Lyapunov function is constructed by the full Lagrangian dynamics based on the image feature parameter potential. The proposed scheme employs the cost function as a Lyapunov function for establishing stability of nonlinear receding horizon control. The effectiveness of the proposed scheme is illustrated by applying this approach to the planar model of visual feedback system

Keywords

Lyapunov methods; feedback; manipulator dynamics; motion control; optimal control; robot vision; stability; Lyapunov function; control Lyapunov function; feedback control; image dynamics; image feature parameter; manipulator dynamics; nonlinear receding horizon control; robot motion control; vision-based; visual feedback; Cameras; Feedback control; Lagrangian functions; Lyapunov method; Manipulator dynamics; Motion control; Nonlinear dynamical systems; Robot control; Robot motion; Robot vision systems;

fLanguage

English

Publisher

ieee

Conference_Titel

American Control Conference, 2001. Proceedings of the 2001

Conference_Location

Arlington, VA

ISSN

0743-1619

Print_ISBN

0-7803-6495-3

Type

conf

DOI

10.1109/ACC.2001.945807

Filename

945807