{"id":"https://openalex.org/W2295524408","doi":"https://doi.org/10.1109/tie.2015.2510505","title":"Robust On-Line Model Predictive Control for a Constrained Image Based Visual Servoing","display_name":"Robust On-Line Model Predictive Control for a Constrained Image Based Visual Servoing","publication_year":2015,"publication_date":"2015-01-01","ids":{"openalex":"https://openalex.org/W2295524408","doi":"https://doi.org/10.1109/tie.2015.2510505","mag":"2295524408"},"language":"en","primary_location":{"id":"doi:10.1109/tie.2015.2510505","is_oa":true,"landing_page_url":"https://doi.org/10.1109/tie.2015.2510505","pdf_url":"https://ieeexplore.ieee.org/ielx7/41/7428980/07362013.pdf","source":{"id":"https://openalex.org/S58031724","display_name":"IEEE Transactions on Industrial Electronics","issn_l":"0278-0046","issn":["0278-0046","1557-9948"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310319808","host_organization_name":"Institute of Electrical and Electronics Engineers","host_organization_lineage":["https://openalex.org/P4310319808"],"host_organization_lineage_names":["Institute of Electrical and Electronics Engineers"],"type":"journal"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"IEEE Transactions on Industrial Electronics","raw_type":"journal-article"},"type":"article","indexed_in":["crossref"],"open_access":{"is_oa":true,"oa_status":"bronze","oa_url":"https://ieeexplore.ieee.org/ielx7/41/7428980/07362013.pdf","any_repository_has_fulltext":false},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5029930844","display_name":"Amir Hajiloo","orcid":null},"institutions":[{"id":"https://openalex.org/I60158472","display_name":"Concordia University","ror":"https://ror.org/0420zvk78","country_code":"CA","type":"education","lineage":["https://openalex.org/I60158472"]}],"countries":["CA"],"is_corresponding":false,"raw_author_name":"Amir Hajiloo","raw_affiliation_strings":["Department of Mechanical and Industrial Engineering, Concordia University, Montr\u00e9al, QC, Canada"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Mechanical and Industrial Engineering, Concordia University, Montr\u00e9al, QC, Canada","institution_ids":["https://openalex.org/I60158472"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5082414237","display_name":"Mohammad Keshmiri","orcid":null},"institutions":[{"id":"https://openalex.org/I5023651","display_name":"McGill University","ror":"https://ror.org/01pxwe438","country_code":"CA","type":"education","lineage":["https://openalex.org/I5023651"]}],"countries":["CA"],"is_corresponding":false,"raw_author_name":"Mohammad Keshmiri","raw_affiliation_strings":["Department of Computer Science, McGill University, Montr\u00e9al, QC, Canada"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Computer Science, McGill University, Montr\u00e9al, QC, Canada","institution_ids":["https://openalex.org/I5023651"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5085378824","display_name":"Wenfang Xie","orcid":"https://orcid.org/0000-0003-2449-6306"},"institutions":[{"id":"https://openalex.org/I60158472","display_name":"Concordia University","ror":"https://ror.org/0420zvk78","country_code":"CA","type":"education","lineage":["https://openalex.org/I60158472"]}],"countries":["CA"],"is_corresponding":false,"raw_author_name":"Wen-Fang Xie","raw_affiliation_strings":["Department of Mechanical and Industrial Engineering, Concordia University, Montr\u00e9al, QC, Canada"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Mechanical and Industrial Engineering, Concordia University, Montr\u00e9al, QC, Canada","institution_ids":["https://openalex.org/I60158472"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5100447723","display_name":"Tingting Wang","orcid":"https://orcid.org/0000-0002-2666-7159"},"institutions":[{"id":"https://openalex.org/I163340411","display_name":"Hohai University","ror":"https://ror.org/01wd4xt90","country_code":"CN","type":"education","lineage":["https://openalex.org/I163340411"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Ting-Ting Wang","raw_affiliation_strings":["Department of Mechanical and Electrical Engineering, Hohai University, Changzhou, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Mechanical and Electrical Engineering, Hohai University, Changzhou, China","institution_ids":["https://openalex.org/I163340411"]}]}],"institutions":[],"countries_distinct_count":2,"institutions_distinct_count":3,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":4.1096,"has_fulltext":true,"cited_by_count":98,"citation_normalized_percentile":{"value":0.96113797,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":95,"max":99},"biblio":{"volume":null,"issue":null,"first_page":"1","last_page":"1"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10531","display_name":"Advanced Vision and Imaging","score":0.9998000264167786,"subfield":{"id":"https://openalex.org/subfields/1707","display_name":"Computer Vision and Pattern Recognition"},"field":{"id":"https://openalex.org/fields/17","display_name":"Computer Science"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},"topics":[{"id":"https://openalex.org/T10531","display_name":"Advanced Vision and Imaging","score":0.9998000264167786,"subfield":{"id":"https://openalex.org/subfields/1707","display_name":"Computer Vision and Pattern Recognition"},"field":{"id":"https://openalex.org/fields/17","display_name":"Computer Science"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T11105","display_name":"Advanced Image Processing Techniques","score":0.9718000292778015,"subfield":{"id":"https://openalex.org/subfields/1707","display_name":"Computer Vision and Pattern Recognition"},"field":{"id":"https://openalex.org/fields/17","display_name":"Computer Science"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T10540","display_name":"Advanced Fluorescence Microscopy Techniques","score":0.9652000069618225,"subfield":{"id":"https://openalex.org/subfields/1304","display_name":"Biophysics"},"field":{"id":"https://openalex.org/fields/13","display_name":"Biochemistry, Genetics and Molecular Biology"},"domain":{"id":"https://openalex.org/domains/1","display_name":"Life Sciences"}}],"keywords":[{"id":"https://openalex.org/keywords/visual-servoing","display_name":"Visual servoing","score":0.9735202789306641},{"id":"https://openalex.org/keywords/jacobian-matrix-and-determinant","display_name":"Jacobian matrix and determinant","score":0.7838345170021057},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.641873836517334},{"id":"https://openalex.org/keywords/controller","display_name":"Controller (irrigation)","score":0.6103125810623169},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.5672639012336731},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.5592479705810547},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.518036425113678},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.5132367610931396},{"id":"https://openalex.org/keywords/model-predictive-control","display_name":"Model predictive control","score":0.47781994938850403},{"id":"https://openalex.org/keywords/visibility","display_name":"Visibility","score":0.4525531828403473},{"id":"https://openalex.org/keywords/robust-control","display_name":"Robust control","score":0.4171541631221771},{"id":"https://openalex.org/keywords/robot-kinematics","display_name":"Robot kinematics","score":0.413730651140213},{"id":"https://openalex.org/keywords/control-system","display_name":"Control system","score":0.29811352491378784},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.22545459866523743},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.2253335416316986},{"id":"https://openalex.org/keywords/mobile-robot","display_name":"Mobile robot","score":0.1942274570465088},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.16720405220985413}],"concepts":[{"id":"https://openalex.org/C10912380","wikidata":"https://www.wikidata.org/wiki/Q527952","display_name":"Visual servoing","level":3,"score":0.9735202789306641},{"id":"https://openalex.org/C200331156","wikidata":"https://www.wikidata.org/wiki/Q506041","display_name":"Jacobian matrix and determinant","level":2,"score":0.7838345170021057},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.641873836517334},{"id":"https://openalex.org/C203479927","wikidata":"https://www.wikidata.org/wiki/Q5165939","display_name":"Controller (irrigation)","level":2,"score":0.6103125810623169},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.5672639012336731},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.5592479705810547},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.518036425113678},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5132367610931396},{"id":"https://openalex.org/C172205157","wikidata":"https://www.wikidata.org/wiki/Q1782962","display_name":"Model predictive control","level":3,"score":0.47781994938850403},{"id":"https://openalex.org/C123403432","wikidata":"https://www.wikidata.org/wiki/Q654068","display_name":"Visibility","level":2,"score":0.4525531828403473},{"id":"https://openalex.org/C31531917","wikidata":"https://www.wikidata.org/wiki/Q915157","display_name":"Robust control","level":3,"score":0.4171541631221771},{"id":"https://openalex.org/C74222875","wikidata":"https://www.wikidata.org/wiki/Q16000312","display_name":"Robot kinematics","level":4,"score":0.413730651140213},{"id":"https://openalex.org/C17500928","wikidata":"https://www.wikidata.org/wiki/Q959968","display_name":"Control system","level":2,"score":0.29811352491378784},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.22545459866523743},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.2253335416316986},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.1942274570465088},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.16720405220985413},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.0},{"id":"https://openalex.org/C86803240","wikidata":"https://www.wikidata.org/wiki/Q420","display_name":"Biology","level":0,"score":0.0},{"id":"https://openalex.org/C6557445","wikidata":"https://www.wikidata.org/wiki/Q173113","display_name":"Agronomy","level":1,"score":0.0},{"id":"https://openalex.org/C120665830","wikidata":"https://www.wikidata.org/wiki/Q14620","display_name":"Optics","level":1,"score":0.0},{"id":"https://openalex.org/C28826006","wikidata":"https://www.wikidata.org/wiki/Q33521","display_name":"Applied mathematics","level":1,"score":0.0},{"id":"https://openalex.org/C119599485","wikidata":"https://www.wikidata.org/wiki/Q43035","display_name":"Electrical engineering","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/tie.2015.2510505","is_oa":true,"landing_page_url":"https://doi.org/10.1109/tie.2015.2510505","pdf_url":"https://ieeexplore.ieee.org/ielx7/41/7428980/07362013.pdf","source":{"id":"https://openalex.org/S58031724","display_name":"IEEE Transactions on Industrial Electronics","issn_l":"0278-0046","issn":["0278-0046","1557-9948"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310319808","host_organization_name":"Institute of Electrical and Electronics Engineers","host_organization_lineage":["https://openalex.org/P4310319808"],"host_organization_lineage_names":["Institute of Electrical and Electronics Engineers"],"type":"journal"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"IEEE Transactions on Industrial Electronics","raw_type":"journal-article"}],"best_oa_location":{"id":"doi:10.1109/tie.2015.2510505","is_oa":true,"landing_page_url":"https://doi.org/10.1109/tie.2015.2510505","pdf_url":"https://ieeexplore.ieee.org/ielx7/41/7428980/07362013.pdf","source":{"id":"https://openalex.org/S58031724","display_name":"IEEE Transactions on Industrial Electronics","issn_l":"0278-0046","issn":["0278-0046","1557-9948"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310319808","host_organization_name":"Institute of Electrical and Electronics Engineers","host_organization_lineage":["https://openalex.org/P4310319808"],"host_organization_lineage_names":["Institute of Electrical and Electronics Engineers"],"type":"journal"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"IEEE Transactions on Industrial Electronics","raw_type":"journal-article"},"sustainable_development_goals":[{"id":"https://metadata.un.org/sdg/16","score":0.7799999713897705,"display_name":"Peace, Justice and strong institutions"}],"awards":[{"id":"https://openalex.org/G1640647856","display_name":null,"funder_award_id":"61403122.","funder_id":"https://openalex.org/F4320321001","funder_display_name":"National Natural Science Foundation of China"},{"id":"https://openalex.org/G5510063318","display_name":null,"funder_award_id":"N00892","funder_id":"https://openalex.org/F4320334593","funder_display_name":"Natural Sciences and Engineering Research Council of Canada"}],"funders":[{"id":"https://openalex.org/F4320321001","display_name":"National Natural Science Foundation of China","ror":"https://ror.org/01h0zpd94"},{"id":"https://openalex.org/F4320334593","display_name":"Natural Sciences and Engineering Research Council of Canada","ror":"https://ror.org/01h531d29"}],"has_content":{"grobid_xml":true,"pdf":true},"content_urls":{"pdf":"https://content.openalex.org/works/W2295524408.pdf","grobid_xml":"https://content.openalex.org/works/W2295524408.grobid-xml"},"referenced_works_count":37,"referenced_works":["https://openalex.org/W1578637944","https://openalex.org/W1579925330","https://openalex.org/W1597363841","https://openalex.org/W1631623342","https://openalex.org/W1973265088","https://openalex.org/W2028027630","https://openalex.org/W2054576071","https://openalex.org/W2076809428","https://openalex.org/W2079553629","https://openalex.org/W2082991751","https://openalex.org/W2084447079","https://openalex.org/W2092210922","https://openalex.org/W2095035710","https://openalex.org/W2099852332","https://openalex.org/W2105582660","https://openalex.org/W2110461435","https://openalex.org/W2111691855","https://openalex.org/W2118354411","https://openalex.org/W2124637388","https://openalex.org/W2126761499","https://openalex.org/W2128083122","https://openalex.org/W2128122239","https://openalex.org/W2133450663","https://openalex.org/W2134673975","https://openalex.org/W2137044675","https://openalex.org/W2137399118","https://openalex.org/W2141878121","https://openalex.org/W2142718141","https://openalex.org/W2145248757","https://openalex.org/W2147125096","https://openalex.org/W2152136198","https://openalex.org/W2157593358","https://openalex.org/W2340209847","https://openalex.org/W2536620281","https://openalex.org/W2552885458","https://openalex.org/W2567137345","https://openalex.org/W3210839039"],"related_works":["https://openalex.org/W2171817899","https://openalex.org/W2376367950","https://openalex.org/W213797040","https://openalex.org/W2620386921","https://openalex.org/W571470105","https://openalex.org/W1851410152","https://openalex.org/W2091554547","https://openalex.org/W2119312651","https://openalex.org/W2135044092","https://openalex.org/W2099329708"],"abstract_inverted_index":{"This":[0],"paper":[1],"presents":[2],"an":[3],"online":[4],"image-based":[5],"visual":[6,32],"servoing":[7,33],"(IBVS)":[8],"controller":[9,26,50],"for":[10,66],"a":[11,97],"6-degrees-of-freedom":[12],"(DOF)":[13],"robotic":[14,31],"system":[15],"based":[16],"on":[17,96],"the":[18,30,52,55,63,67,76,79,83,87,90],"robust":[19],"model":[20],"predictive":[21],"control":[22],"(RMPC)":[23],"method.":[24],"The":[25,47],"is":[27],"designed":[28],"considering":[29],"system's":[34],"input":[35],"and":[36,44,59,78,106],"output":[37],"constraints,":[38],"such":[39,71],"as":[40,72],"robot":[41,99],"physical":[42],"limitations":[43],"visibility":[45],"constraints.":[46],"proposed":[48,91],"IBVS":[49,69],"avoids":[51],"inverse":[53],"of":[54,82,89],"image":[56],"Jacobian":[57],"matrix":[58],"hence":[60],"can":[61],"solve":[62],"intractable":[64],"problems":[65],"classical":[68],"controller,":[70],"large":[73],"displacements":[74],"between":[75],"initial":[77],"desired":[80],"positions":[81],"camera.":[84],"To":[85],"verify":[86],"effectiveness":[88],"algorithm,":[92],"real-time":[93],"experimental":[94],"results":[95],"6-DOF":[98],"manipulator":[100],"with":[101],"eye-in-hand":[102],"configuration":[103],"are":[104],"presented":[105],"discussed.":[107]},"counts_by_year":[{"year":2026,"cited_by_count":1},{"year":2025,"cited_by_count":9},{"year":2024,"cited_by_count":11},{"year":2023,"cited_by_count":11},{"year":2022,"cited_by_count":11},{"year":2021,"cited_by_count":9},{"year":2020,"cited_by_count":15},{"year":2019,"cited_by_count":9},{"year":2018,"cited_by_count":11},{"year":2017,"cited_by_count":7},{"year":2016,"cited_by_count":4}],"updated_date":"2026-07-01T08:55:40.977307","created_date":"2025-10-10T00:00:00"}