Stabilizing Predictive Visual Feedback Control for Fixed Camera Systems

Abstract

This paper investigates a vision based robot control via a receding horizon control strategy for fixed camera systems, as a stabilizing predictive visual feedback control. Firstly, a 3D dynamic visual feedback system with a fixed camera configuration is reconstructed in order to improve performance of estimation. 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 the energy function of the dynamic visual feedback system. Furthermore, simulation and actual nonlinear experimental results are assessed with respect to the stability and the performance.