Robustness analysis of model predictive control for constrained Image-Based Visual Servoing

Shahab Heshmati-Alamdari; George K. Karavas; Alina Eqtami; Michael Drossakis; Kostas J. Kyriakopoulos

doi:10.1109/ICRA.2014.6907511

Robustness analysis of model predictive control for constrained Image-Based Visual Servoing

Shahab Heshmati-Alamdari, George K. Karavas, Alina Eqtami, Michael Drossakis, Kostas J. Kyriakopoulos

Electrical Engineering

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution

Abstract

In this paper, robustness analysis of constrained Image Based Visual Servoing based on Nonlinear Model Predictive Control (NMPC) is presented. It is known, that real applications such an aerial or a fast underwater robotic systems, suffer from the presence of external disturbances. These kinds of disturbances are inevitable in the physical systems, so it is of great interest to employ robust controllers. Therefore, a rigorous robustness analysis should be conducted. In this paper, the Image Based Visual Servoing system under the MPC framework is proven to be Input-to-State Stable (ISS) and a permissible upper bound of the disturbances is provided. Finally, the validity of the theoretic results is illustrated through a simulated example.

Original language	English (US)
Title of host publication	Proceedings - IEEE International Conference on Robotics and Automation
Publisher	Institute of Electrical and Electronics Engineers Inc.
Pages	4469-4474
Number of pages	6
ISBN (Electronic)	9781479936854, 9781479936854
DOIs	https://doi.org/10.1109/ICRA.2014.6907511
State	Published - Sep 22 2014
Event	2014 IEEE International Conference on Robotics and Automation, ICRA 2014 - Hong Kong, China Duration: May 31 2014 → Jun 7 2014

Publication series

Name	Proceedings - IEEE International Conference on Robotics and Automation
ISSN (Print)	1050-4729

Other

Other	2014 IEEE International Conference on Robotics and Automation, ICRA 2014
Country/Territory	China
City	Hong Kong
Period	5/31/14 → 6/7/14

ASJC Scopus subject areas

Software
Control and Systems Engineering
Artificial Intelligence
Electrical and Electronic Engineering

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10.1109/ICRA.2014.6907511

Cite this

Heshmati-Alamdari, S., Karavas, G. K., Eqtami, A., Drossakis, M., & Kyriakopoulos, K. J. (2014). Robustness analysis of model predictive control for constrained Image-Based Visual Servoing. In Proceedings - IEEE International Conference on Robotics and Automation (pp. 4469-4474). Article 6907511 (Proceedings - IEEE International Conference on Robotics and Automation). Institute of Electrical and Electronics Engineers Inc.. https://doi.org/10.1109/ICRA.2014.6907511

Robustness analysis of model predictive control for constrained Image-Based Visual Servoing. / Heshmati-Alamdari, Shahab; Karavas, George K.; Eqtami, Alina et al.
Proceedings - IEEE International Conference on Robotics and Automation. Institute of Electrical and Electronics Engineers Inc., 2014. p. 4469-4474 6907511 (Proceedings - IEEE International Conference on Robotics and Automation).

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution

Heshmati-Alamdari, S, Karavas, GK, Eqtami, A, Drossakis, M & Kyriakopoulos, KJ 2014, Robustness analysis of model predictive control for constrained Image-Based Visual Servoing. in Proceedings - IEEE International Conference on Robotics and Automation., 6907511, Proceedings - IEEE International Conference on Robotics and Automation, Institute of Electrical and Electronics Engineers Inc., pp. 4469-4474, 2014 IEEE International Conference on Robotics and Automation, ICRA 2014, Hong Kong, China, 5/31/14. https://doi.org/10.1109/ICRA.2014.6907511

Heshmati-Alamdari S, Karavas GK, Eqtami A, Drossakis M, Kyriakopoulos KJ. Robustness analysis of model predictive control for constrained Image-Based Visual Servoing. In Proceedings - IEEE International Conference on Robotics and Automation. Institute of Electrical and Electronics Engineers Inc. 2014. p. 4469-4474. 6907511. (Proceedings - IEEE International Conference on Robotics and Automation). doi: 10.1109/ICRA.2014.6907511

Heshmati-Alamdari, Shahab ; Karavas, George K. ; Eqtami, Alina et al. / Robustness analysis of model predictive control for constrained Image-Based Visual Servoing. Proceedings - IEEE International Conference on Robotics and Automation. Institute of Electrical and Electronics Engineers Inc., 2014. pp. 4469-4474 (Proceedings - IEEE International Conference on Robotics and Automation).

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AB - In this paper, robustness analysis of constrained Image Based Visual Servoing based on Nonlinear Model Predictive Control (NMPC) is presented. It is known, that real applications such an aerial or a fast underwater robotic systems, suffer from the presence of external disturbances. These kinds of disturbances are inevitable in the physical systems, so it is of great interest to employ robust controllers. Therefore, a rigorous robustness analysis should be conducted. In this paper, the Image Based Visual Servoing system under the MPC framework is proven to be Input-to-State Stable (ISS) and a permissible upper bound of the disturbances is provided. Finally, the validity of the theoretic results is illustrated through a simulated example.

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Robustness analysis of model predictive control for constrained Image-Based Visual Servoing

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