Predictive Control for Constrained Image-Based Visual Servoing

This paper deals with the image-based visual servoing (IBVS), subject to constraints. Robot workspace limitations, visibility constraints, and actuators limitations are addressed. These constraints are formulated into state, output, and input constraints, respectively. Based on the predictive-contro...

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Bibliographic Details
Published in:	IEEE transactions on robotics Vol. 26; no. 5; pp. 933 - 939
Main Authors:	Allibert, G, Courtial, E, Chaumette, F
Format:	Journal Article
Language:	English
Published:	New York, NY IEEE 01.10.2010 Institute of Electrical and Electronics Engineers The Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Subjects:	Applied sciences Artificial intelligence Automatic Cameras Computer science; control theory; systems Computer simulation Control system synthesis Control theory. Systems Design optimization Engineering Sciences Exact sciences and technology Materials handling Mathematical model Mathematical models Matrix Nonlinearity Pattern recognition. Digital image processing. Computational geometry Predictive control Predictive models Robotics Robots Trajectory Visibility Visual Visual servoing Visualization Control synthesis Visual servoing Non linear programming Output signal Modeling Robotics Constrained optimization Control constraint Non linear model Visibility System with six degrees of freedom Actuator Predictive control State constraint Workspace
ISSN:	1552-3098, 1941-0468
Online Access:	Get full text
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