Linear Position-Based Visual Predictive Control

Although position-based visual servoing (PBVS) scheme guarantees the global asymptotic stability and unlike the image-based visual servoing (IBVS), some issues such as image singularities and camera retreat problems do not emerge within the control procedure but, its sensitivity to camera calibration errors must be addressed. This paper presents a novel positionbased visual predictive control (PVPC) method based on the internal model control (IMC) scheme to not only overcome the issues caused by camera calibration errors, but also to handle the available constraints in the visual servoing procedure. In addition, the optimized control signal puts less pressure on the actuators while the camera goes through the smoother spatial trajectory. In order to verify the functionality and efficiency of the proposed approach, some simulation results are presented .