Data-Driven Model Predictive Control for Uncalibrated Visual Servoing

Data-Driven Model Predictive Control for Uncalibrated Visual Servoing

This paper addresses the image-based visual servoing (IBVS) control problem with an uncalibrated camera, unknown dynamics, and constraints. A novel data-driven uncalibrated IBVS (UIBVS) strategy is proposed, incorporated with the Koopman-based model predictive control (KMPC) algorithm and the adapti...

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Bibliographic Details
Main Authors: Tianjiao Han, Hongyu Zhu, Dan Yu
Format: Article
Language:English
Published: MDPI AG 2023-12-01
Series:Symmetry
Subjects:
robotic control
uncalibrated image-based visual servoing
image Jacobian matrix estimation
data-driven model predictive control
Online Access:https://www.mdpi.com/2073-8994/16/1/48

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