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

摘要

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.