Multirate predictor control scheme for visual servo control

Author

Sim, T.P. ; Hong, G.S. ; Lim, K.B.

Author_Institution

Dept. of Mech. Eng., Nat. Univ. of Singapore, Singapore

Volume

149

Issue

2

fYear

2002

fDate

3/1/2002 12:00:00 AM

Firstpage

117

Lastpage

124

Abstract

An attractive control scheme for a position-based dynamic "look-and-move" eye-in-hand visual servo system is proposed. The multi-rate predictor control scheme is used to overcome the inherent delay in the vision system and the multi-rate nature of the dynamic look-and-move visual servo control scheme. The control scheme takes the form of a simple predictor placed in the major feedback of the standard Smith predictor control scheme. This in turn eliminates the delay time between the dynamics of the observed target and the control, in a similar fashion to the feedforward Smith predictor. Hence the proposed control scheme is also known as the modified Smith predictor (MSP) control scheme. A detailed analysis of the proposed control scheme is presented for visual servo control. Representative computer simulation studies are presented to verify the effectiveness of the proposed multi-rate predictor control scheme for dynamic visual tracking

Keywords

active vision; control system analysis computing; delays; digital simulation; feedback; optical tracking; predictive control; servomechanisms; computer simulation; dynamic visual tracking; feedback; modified Smith predictor control scheme; multi-rate predictor control scheme; position-based dynamic look-and-move eye-in-hand system; target-control delay time; vision system delay; visual servo control;

fLanguage

English

Journal_Title

Control Theory and Applications, IEE Proceedings -

Publisher

iet

ISSN

1350-2379

Type

jour

DOI

10.1049/ip-cta:20020238

Filename

997863