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

摘要

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.