A Study on Advanced Visual Servo Systems Design via Nonlinear Model Predictive Control

基于非线性模型预测控制的先进视觉伺服系统设计研究

• 批准号: 12650440
• 负责人: FUJITA Masayuki
• 金额: $ 1.15万
• 依托单位: Kanazawa University
• 依托单位国家: 日本
• 项目类别: Grant-in-Aid for Scientific Research (C)
• 财政年份: 2000
• 资助国家: 日本
• 起止时间: 2000 至 2001
• 项目状态: 已结题
• 来源: https://kaken.nii.ac.jp/grant/KAKENHI-PROJECT-12650440/
• 关键词: Model Predictive Control; Nonlinear Control; Visual Servo; Visual Feedback; Robot Control; Robust Control; H_∞ Control; Digital Control

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.

视觉反馈机械系统的运动控制是人类的一项基本能力。已被广泛提出的应用领域包括制造、汽车转向等。此外，视觉反馈控制是一门介于非线性控制理论和力学、图像处理的几何框架之间的重要学科。本文从非线性控制理论方面对机器人视觉反馈控制进行了研究。首先，将机器人相对刚体运动的三维视觉反馈控制问题看作是图像特征位置的镇定问题。利用SE(3)的表示，导出了目标物体与摄像机之间的相对刚体运动动力学。利用三维视觉反馈系统的无源性和旋转矩阵的性质，得到了在Lyapunov意义下保证渐近稳定的视觉反馈控制器。其次，本研究的主要贡献是设计和分析了基于非线性模型预测控制的视觉反馈控制。基于控制李亚普诺夫函数和相应的反馈控制律，提出了三维视觉反馈系统的镇定非线性模型预测控制方案。该方案采用代价函数作为建立稳定性的Lyapunov函数。

项目成果

藤田政之: "受動性に基づく非線形視覚フィードバック制御"計測と制御. 40-9. 624-629 (2001)

Masayuki Fujita：“基于无源性的非线性视觉反馈控制”40-9 624-629（2001）。

H.Kawai: "Visual Feedback Control of Nonlinear Robotics Systems via Stabilizing Receding Horizon Control Approach"Proc. of the 40th IEEE Conference on Decision and Control. 2418-2423 (2001)

H.Kawai：“通过稳定后退地平线控制方法对非线性机器人系统进行视觉反馈控制”Proc。

A. Maruyama: "Stability and Tracking Performance of Dynamic Visual Feedback Control for Nonlinear Mechanical Systems"Proc. Of the 40th lEEE Con-ference on Decision and Control. 4415-4420 (2001)

A. Maruyama：“非线性机械系统动态视觉反馈控制的稳定性和跟踪性能”Proc。

A.Maruyama: "Stability and Tracking Performance of Dynamic Visual Feedback Control for Nonlinear Mechanical Systems"Proc. of the 40th IEEE Conference on Decision and Control. 4415-4420 (2001)

A.Maruyama：“非线性机械系统动态视觉反馈控制的稳定性和跟踪性能”Proc。

H. Kawai: "Visual Feedback Control of Nonlinear Robotics Systems via Stabilizing Receding Horizon Control Approach"Proc. Of the 40th IEEE Conference on Dicision and Control. 2418-2423 (2001)

H. Kawai：“通过稳定后退地平线控制方法对非线性机器人系统进行视觉反馈控制”Proc。