Solutions for Visual Control of Motion: Active Tracking Applications

This paper deals with active tracking of 3D moving targets. The performance and robustness in visual control of motion depend on the vision algorithms and the control structure where dynamical aspects can not be neglected. Visual tracking is presented as a regulation control problem. Both system architecture and controller design are discussed. The performance of visually guided systems is substantially deteriorated by delays in the control loop. Interpolation is used to cope with visual processing delay. Model predictive control strategies are proposed to compensate for the mechanical latency and improve the global system performance.