Predicting a moving object position for visual servoing: theory and experiments

Gortcheva, E.; Garrido, R.; González, Elena; Carvallo, Andrés

doi:10.1002/acs.628

Cited by 7 publications

(3 citation statements)

References 17 publications

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“…Since the sliding hyperplane contains state information at the moment k + d − 1, the states of the system should be preestimated. Suppose that the target motion model is known, state preestimate values xF (k + 1), · · · , xF (k + d − 1) can be obtained with the Kalman filter mentioned in [9] and measured state values xF (k) at k moment. A high chattering of the sliding mode controller will be caused by inherent characteristic of discrete exponential reaching law.…”

Section: Design Of Sliding Mode Variable Structure Visual Controllermentioning

confidence: 99%

Sliding mode variable structure control for visual servoing system

Xie

2010

Int. J. Autom. Comput.

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A visual servoing tracking controller is proposed based on the sliding mode control theory in order to achieve strong robustness against parameter variations and external disturbances. A sliding plane with time delay compensation is presented by the pre-estimate of states. To reduce the chattering of the sliding mode controller, a modified exponential reaching law and hyperbolic tangent function are applied to the design of visual controller and robot joint controller. Simulation results show that the visual servoing control scheme is robust and has good tracking performance.

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Section: Design Of Sliding Mode Variable Structure Visual Controllermentioning

confidence: 99%

Sliding mode variable structure control for visual servoing system

Xie

2010

Int. J. Autom. Comput.

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“…Thus, utilising visual information with a lower sampling rate than the control may cause poor performance, and even closed-loop instability (Chaumette and Hutchinson, 2006; Monroy et al, 2007). The second is the time delay that is introduced as a result of image acquisition, image processing and visual information transmission (Gortcheva et al, 2001; Jean and Lian, 2012; Wang et al, 2012). It is well known that the foremost source of instability and system performance degradation is time delay (Huong and Trinh, 2016; Huong, 2016; Makhlouf and Hammami, 2014; Wang et al, 2014b; Xie and Chen, 2013; Zhang et al, 2015a).…”

Section: Introductionmentioning

confidence: 99%

State observer for linear system with unknown input disturbance and sampled and delayed output with measurement noise

Mohammed

Wang²,

Tian

2018

Transactions of the Institute of Measurement and Control

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This paper addresses the sampled and unknown time-varying delayed output problem of the continuous-time linear system with unknown input disturbance and measurement noise. Based on the piecewise continuous hybrid system and extended functional observer, a robust hybrid extended observer is proposed to estimate the non-delayed continuous state from the sampled and delayed measurements when the time delay is unknown time-varying. The advantages of the designed observer are the quite simple structure, robustness to dealing with measurement noise, and ability to estimate the system state with accuracy under the influence of unknown input disturbance. Furthermore, the proposed observer is able to estimate the non-delayed continuous state and unknown input disturbance, in particular for the issue of fault estimation and perturbation disturbance simultaneously. The stability of the robust hybrid extended observer is illustrated and analyzed. Moreover, to show the effectiveness of the proposed observer, a comparison with the delayed Luenberger observer is performed via a numerical example. Finally, the simulation results are demonstrated.

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“…Thus, utilizing visual data with the effect of lowering sampling rate to the controller might affect the performance and may lead to the closed loop instability [6,16]. Moreover, using visual data as a feedback signal induces time delay which corresponding to time for image acquisition, image processing, and visual data transmission [9,21]. It is worth mentioning that the time delay is the main cause of system instability [5,13,10].…”

Section: Introductionmentioning

confidence: 99%

Compensation of Unknown Time Delay Measurement for Network Visual Servoing System Using Observation Design

Mohammed¹,

Wang²,

Tian³

2018

STUD INFORM CONTROL

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In this paper, the sampled and delayed measurements subject to measurement noise are studied under the condition of the time delay being bounded, unknown, and time varying. The proposed observer is called "continuous state observer" and, based on the piecewise continuous hybrid system and on the extended functional observer, is derived to reconstruct the continuous system state without time delay from sampled and delayed measurements subject to measurement noise. The proposed observer has advantages which are represented by simple structure design and robust performance of the measurement noise. Another advantage of the proposed observer is that it considers the time delayed measurement to be a particular disturbance induced by the vision sensor. Moreover, the effectiveness of the continuous state observer is compared with the Chain observer over appropriate example, and the comparison results are established.

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Predicting a moving object position for visual servoing: theory and experiments

Cited by 7 publications

References 17 publications

Sliding mode variable structure control for visual servoing system

Sliding mode variable structure control for visual servoing system

State observer for linear system with unknown input disturbance and sampled and delayed output with measurement noise

Compensation of Unknown Time Delay Measurement for Network Visual Servoing System Using Observation Design

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