Experiments on Stabilizing Receding Horizon Control of Visual Feedback System with Planar Manipulators

This paper deals with an application of receding horizon control to a visual feedback system. The visual feedback system consists of a planar manipulator and a camera. A terminal cost is used instead of terminal constraints on recedingn horizon control to guarantee the stability and to simplify the computational demand. The use of the terminal cost derived from the energy function of the visual feedback system is a key point. Then, under some conditions, the terminal cost is given as the control Lyapunov function by the inverse optimality. As an application, we apply this result to the two-link direct drive manipulator with a camera. Experimental results are compared with respect to stability and performance by applying the receding horizon control and the inverse optimal control to the planar visual feedback system. Responses of receding horizon control are compared with those of inverse optimal control and passivity based control. Furthermore, it is shown that the horizon length plays an important role for the performance.