Predictive control of mobile robot based on tensor product model transformation
作者： Xue Han , Ting-ting Wang , Shu-kui Yu
DOI: 10.1109/CCDC.2017.7978623
关键词:
摘要: A Robust Model Predictive Controller (RMPC) is designed for the visual stabilization of mobile robots. The image-based servoing (IBVS) task represented by discrete state-space model robot. image Jacobian vertex matrix obtained using tensor product (TP) transformation method, and constraint problem robot classified into solution linear inequality optimal obtains control signal, which makes system have closed-loop asymptotic stability. method ensures input can ensure that measurements stay in plane. simulation results a with eye-in-hand configuration demonstrate effectiveness algorithm.
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