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Predictive control for visual servoing control of cyber physical systems with packet loss

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Abstract

Networked robotic visual servoing system is a representative cyber-physical system (CPS). This paper studies the robust predictive control problem of networked robotic visual servoing system with packet losses and uncertainty. Firstly, according to eye-to-hand framework, the system is modeled as a nonlinear discrete model with packet loss based on image-based visual servoing (IBVS) approach, where the packet losses obey a Bernoulli distribution. Since the discretization error of the system is a norm-bounded parameter, a nonlinear system with bounded uncertainty is derived. With regard to the principle of the MPC and the stochastic system method, the upper bound of the MPC performance index and the min-max optimization problem with uncertainty are presented. Based on robust least-square approach, the parameter-dependent predictive controller is obtained and an iterative algorithm is presented to solve the horizon optimization problem. Finally, numerical simulations and experiments are proposed to verify the effectiveness of the proposed algorithm.

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Acknowledgements

This work was supported in part by the Zhejiang Provincial Natural Science Foundation of China under Grant LY17F030019, in part by the NSFC-Zhejiang Joint Foundation for the Integration of Industrialization and Informatization under Grant U1709213, and in part by the Talent Project of Zhejiang Association for Science and Technology under Grant 2018YCGC018.

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Authors and Affiliations

  1. College of Information Engineering, Zhejiang University of Technology, Zhejiang Provincial United Key Laboratory of Embedded System, Hangzhou, 310023, China

    Jinhui Wu, Xu Chen, Andong Liu & Li Yu

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  1. Jinhui Wu
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  2. Xu Chen
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  3. Andong Liu
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  4. Li Yu
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Correspondence to Andong Liu.

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This article is part of the Topical Collection: Special Issue on Networked Cyber-Physical Systems

Guest Editors: Heng Zhang, Mohammed Chadli, Zhiguo Shi, Yanzheng Zhu, and Zhaojian Li

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Wu, J., Chen, X., Liu, A. et al. Predictive control for visual servoing control of cyber physical systems with packet loss. Peer-to-Peer Netw. Appl. 12, 1774–1784 (2019). https://doi.org/10.1007/s12083-019-00740-4

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  • DOI: https://doi.org/10.1007/s12083-019-00740-4

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