On the Design of Observer-based Dynamic Visual Servo Systems via Nonlinear H_∞ Model Predictive Control

基于非线性H_∞模型预测控制的观测器动态视觉伺服系统设计

• 批准号: 14550442
• 负责人: FUJITA Masayuki
• 金额: $ 1.28万
• 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: 2002
• 资助国家: 日本
• 起止时间: 2002 至 2003
• 项目状态: 已结题
• 来源: https://kaken.nii.ac.jp/grant/KAKENHI-PROJECT-14550442/
• 关键词: Model Predictive Control; Nonlinear Control; Visual Servo; Visual Feed back; Robot Control; Robust Control; H_∞ Control; Digital Control; H_∞制御

In this research, we consider the design of observer-based dynamic visual servo systems via nonlinear H_∞ model predictive control. Firstly, the 3-D visual feedback control problem is established as the robot control problem and the estimation problem of the relative rigid body motion between the camera and the target object. For this problem, we propose a nonlinear H_∞ model l)redicti~7e control law for the visual servo systems. Specifically, the appropriate energy function to the proposed control law plays an important role in the control design.Secondly, the dynamic visual servo system is constructed from a robot manipulator, a camera and an image processing board with a. high-performance DSP and a. real-time system. While we provide real-time software for implementing the proposed control law to the real system, the algorithm for optimal problems is considered in order to calculate the controller by the real system.Finally, we have experiments for evaluating the control performances using the constructed dynamic visual servo system. Experimental results are analyzed exactly by a high-performance workstation. Not only the states of the average but also the states of the worst case are considered in order to verify the proposed control law with experimental results systematically. Moreover, the real-time software and the algorithm for optimal problems are reconsidered via, simulations and experiments.

在本研究中，我们考虑采用非线性H_∞模型预测控制设计基于观测器的动态视觉伺服系统。首先，将三维视觉反馈控制问题建立为机器人控制问题和摄像机与目标物体之间相对刚体运动估计问题；针对这一问题，我们提出了视觉伺服系统的非线性H_∞模型预测~7e控制律。具体来说，所提出的控制律的合适能量函数在控制设计中起着重要的作用。其次，采用高性能DSP和实时系统，由机械手、摄像机和图像处理板构成动态视觉伺服系统。在提供实时软件将所提出的控制律实现到实际系统的同时，考虑了最优问题的算法，以便由实际系统计算出控制器。最后，对所构建的动态视觉伺服系统的控制性能进行了实验验证。通过高性能工作站对实验结果进行了精确分析。为了用实验结果系统地验证所提出的控制律，不仅考虑了平均状态，而且考虑了最坏情况下的状态。通过仿真和实验，对优化问题的实时软件和算法进行了重新思考。

项目成果

Y.Kawai: "Stabilizing Receding Horizon H_∞ Control for LTV Systems using Extended Terminal Inequality Conditions"Proc.of the 41st Conference on Decision and Control. 3452-3457 (2002)

Y.Kawai：“使用扩展终端不等式条件稳定 LTV 系统的后退地平线 H_∞ 控制”第 41 届决策与控制会议论文集 3452-3457（2002 年）。

東 剛人: "コンピュータネットワークにおける輻輳制御"計測と制御. 41-7. 496-501 (2002)

Takehito Higashi：“计算机网络中的拥塞控制”测量与控制 41-7 (2002)。

M.Mukai, T.Azuma, M.Fujita: "Robust Receding Horizon Control for Hybrid Systems based on Constrained Positively In-variant Sets(in Japanese)"Transactions of the Society of Instrument and Control Engineers. 39-4. 375-381 (2003)

M.Mukai、T.Azuma、M.Fujita：“基于约束正不变集的混合系统的鲁棒后退地平线控制（日语）”仪器与控制工程师学会会刊。

H.Kawai, S.Izoe, M.Fujita: "A Passivity Approach to Vision-based Dynamic Control of Robots with Nonlinear Observer"Control Problems in Robotics, (A.Bicchi, H.Christensen and D.Prattichizzo(Eds)(Springer-Verlag). 199-213 (2002)

H.Kawai、S.Izoe、M.Fujita：“基于视觉的非线性观察器动态控制机器人的被动方法”机器人控制问题，（A.Bicchi、H.Christensen 和 D.Prattichizzo（Eds）（Springer）

H.Kawai et al.: "An Experimental Study of Dynamic Visual Feedback Control on SICE-DD Arm"Proc.of the 42nd SICE Annual Conference. 686-691 (2003)

H.Kawai 等人：“SICE-DD Arm 上动态视觉反馈控制的实验研究”第 42 届 SICE 年会论文集。