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This paper deals with the image-based visual servoing (IBVS), subject to constraints. Robot workspace limitations, visibility constraints, and actuators limitations are addressed. These constraints are formulated into state, output, and input constraints, respectively. Based on the predictive-control strategy, the IBVS task is written into a nonlinear(More)
— This paper proposes novel event-triggered strategies for the control of uncertain nonlinear systems with additive disturbances under robust Nonlinear Model Predictive Controllers (NMPC). The main idea behind the event-driven framework is to trigger the solution of the optimal control problem of the NMPC, only when it is needed. The updates of the control(More)
This paper presents a novel Vision-based Nonlinear Model Predictive Control (NMPC) scheme for an under-actuated underwater robotic vehicle. In this scheme, the control loop does not close periodically, but instead a self-triggering framework decides when to provide the next control update. Between two consecutive triggering instants, the control sequence(More)
— This paper proposes a Model Predictive Control (MPC) framework combined with a self-triggering mechanism for constrained uncertain systems. Under the proposed scheme, the control input as well as the next control update time are provided at each triggering instant. Between two consecutive triggering instants, the control trajectory given by the MPC is(More)
— This paper proposes an event-based framework for the control of a team of cooperating distributed agents. The agents are dynamically decoupled and they are controlled locally by Nonlinear Model Predictive Controllers (NMPC). The event-driven framework allows for triggering the solution of the optimal control problem of the NMPC only when it is needed. The(More)
Control of multiple magnetic particles inside the human body may have many potential applications, such as drug delivery in places where conventional procedures cannot reach. A natural candidate for powering as well as tracking these magnetic particles is the MRI scanner. Although it offers the means to control the particles, it also poses difficulties: the(More)
— In this paper, an enhanced event-based scheme for model predictive control (MPC) of constrained discrete-time systems with additive disturbances is investigated. The re/calculation of the MPC control law is triggered whenever an event depending on the error of the measured state with respect to the nominal state of the system occurs. Between the(More)
It is well known that a real-time visual servoing task which employs a Visual Tracking Algorithm (VTA) imposes high computational cost to robotic system, which consequently results in higher energy consumption and lower autonomy. Motivated by this fact, this paper presents a novel Image Based Visual Servoing-Model Predictive Control (IBVS-MPC) scheme which(More)
— In this paper we propose a decentralized Model Predictive Control (MPC) framework with a self-triggering mechanism, for a team of cooperating agents. The nonholo-nomic agents are controlled locally and exchange information with their neighbors. The aim at scheduling the control updates based on a self-triggering criterion is twofold: to reduce the updates(More)