Conjugated Visual Predictive Control for Constrained Visual Servoing

A novel model predictive control scheme for constrained visual servoing is developed. The proposed method compensates the shortcomings of available MPC schemes in visual servoing and can be utilized for positioning robots in uncertain environments with internal and external constrains. The system model is designed by weighted conjugating of the well-known image-based and position-based approaches. The stability analysis of the control scheme is presented and by illustrating several simulations, the performance and robustness of proposed control structure is demonstrated.

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