A Control Predictive Framework for Image-Based Visual Servoing Applications

被引：2
|
作者：
Lazar, Corneliu [1 ]
Burlacu, Adrian [1 ]
机构：
[1] Gheorghe Asachi Tech Univ Iasi, Iasi, Romania
来源：
ADVANCES IN ROBOT DESIGN AND INTELLIGENT CONTROL | 2016年 / 371卷
关键词：
Visual predictive control; Image based visual servoing; Robot arm motion control;
D O I：
10.1007/978-3-319-21290-6_19
中图分类号：
TP [自动化技术、计算机技术];
学科分类号：
0812 ;
摘要：
Model predictive control (MPC) is a very attractive control algorithm used to solve the complex problems of image-based visual servoing (IBVS) systems. Many image-based predictive controllers were reported, each being different regarding the implementing of the MPC concept. In this paper, we present a MPC framework for IBVS applications, the main contributions being a new visual predictor and the introduction of the reference trajectory.
引用
收藏
页码：185 / 193
页数：9
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