2001 Fiscal Year Final Research Report Summary
A Study on Advanced Visual Servo Systems Design via Nonlinear Model Predictive Control
| Project/Area Number |
12650440
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| Research Category |
Grant-in-Aid for Scientific Research (C)
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| Allocation Type | Single-year Grants |
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| Section | 一般 |
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| Research Field |
Control engineering
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| Research Institution | Kanazawa University |
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Principal Investigator |
FUJITA Masayuki Kanazawa University, Faculty of Engineering, Professor, 工学部, 教授 (90181370)
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| Project Period (FY) |
2000 – 2001
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| Keywords | Model Predictive Control / Nonlinear Control / Visual Servo / Visual Feedback / Robot Control / Robust Control / H_∞ Control / Digital Control |
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| Research Abstract |
Motion control of the mechanical systems with visual feedback is a basic ability of human being. Appli cations that have been proposed widely span manufacturing, car steering and so on. Moreover, the visual feedback control is an important discipline that lies at the intersection between nonlinear control theory and geometric framework of the mechanics and image processing. This research deals with the visual feedback control of robotic manipulators in nonlinear control theoretical aspect.
Firstly, the 3-D visual feedback control problem of the relative rigid body motion is considered as the stabilization problem with respect to the image feature position. By using the representation of SE(3), the relative rigid body motion dynamics between the target object and the camera has been derived. The passivity of the 3-D visual feedback system and the rotational matrix property derive the visual feedback controller to guarantee the asymptotic stability, in the Lyapunov sense.
Next, the principal contribution of this research is the design and analysis of the isual feedback control via the nonlinear model predictive control. Based on the control Lyapunov function and the corresponding feedback control law, the stabilizing nonlinear model predictive control scheme for the 3-D visual feedback system has been proposed. The proposed scheme has employed the cost function as a Lyapunov function for establishing stability.
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