A flat Model Predictive Controller for trajectory tracking in Image Based Visual Servoing

IFAC Proceedings Volumes (IFAC-PapersOnline)

Volumn 7, Issue PART 1, 2007, Pages 993-998

  Allibert, Guillaume ^a   Courtial, Estelle ^a   Touré, Youssoufi ^a  

^a Polytech'Orléans   (France)

Author keywords

Flatness; Model predictive control; Visibility constraints; Visual servoing

Indexed keywords

MECHANICAL ACTUATORS; MOBILE ROBOTS; MODEL PREDICTIVE CONTROL; PREDICTIVE CONTROL SYSTEMS; REAL TIME SYSTEMS; ROBOT APPLICATIONS; TRAJECTORIES; VISIBILITY;

ACTUATOR LIMITATIONS; DIFFERENTIAL FLATNESS; FLATNESS; IMAGE BASED VISUAL SERVOING; MECHANICAL CONSTRAINTS; MODEL PREDICTIVE CONTROLLERS; REAL-TIME APPLICATION; VISIBILITY CONSTRAINT;

VISUAL SERVOING;

EID: 79960945052     PISSN: 14746670     EISSN: None     Source Type: Conference Proceeding    
DOI: 10.3182/20070822-3-za-2920.00165     Document Type: Conference Paper

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