Vision servoing of robot systems using piecewise continuous controllers and observers

Wang, H.P.; Vasseur, Christian; Christov, Nicolaï; Končar, Vladan

doi:10.1016/j.ymssp.2012.06.022

Cited by 40 publications

(30 citation statements)

References 20 publications

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“…It can be easily noticed that the proposed observer estimated the non-delayed continuous system state as accurately as expected, while the Chain observer is strongly affected by the fasting variation of the time delays values which were defined as observation accumulation errors in [20]. The results are that the Gaussian measurement noise is added to the disturbance k µ with time-varying delay, and the effect of k µ is attenuated by the chosen small value of ε as stated in equation (21). As expected, the results in Figure 8 show that the proposed observer under the effect of the Gaussian measurement noise estimated the non-delayed continuous state to the acceptable accuracy level and provided better performance than the Chain observer.…”

Section: The Time-varying Delay With Measurement Noisementioning

confidence: 74%

“…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%

See 1 more Smart Citation

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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Section: The Time-varying Delay With Measurement Noisementioning

confidence: 74%

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

View full text Add to dashboard Cite

show abstract

“…Visual measurement methods based on structured light, single camera and multi-view stereo vision have been widely studied and applied [3]. Xu, et al measured with high precision for complex three-dimensional contour and reconstructed a pixel-level three-dimensional structure profile using structure light measurement system [4].…”

Section: Introductionmentioning

confidence: 99%

Optical flow tracking method for vibration identification of out-of-plane vision

Yu¹,

Yin²,

Zhang³

et al. 2017

J. vibroeng.

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Vibration measurement based on computer vision has been extensively studied and considered as a wide-range, non-contact measurement method. In this paper, the principle of vibration measurement using out-of-plane vision has been investigated under conventional imaging condition. A measurement model for out-of-plane vision has also been demonstrated. Combined the out-of-plane vision measurement model with the optical flow motion estimation principle, a novel model of optical flow tracking method for vibration detection based on out-of-plane vision has been proposed. It enables the identification of vibration parameters without image feature extraction. Visual vibration detection experiment has been conducted with a cantilever beam and a motor cover. Experimental results have been rigorously compared with finite element simulation to verify the efficacy of the proposed method. It shows that this method can effectively identify vibration parameters of the structure without image feature extraction.

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“…Based on the theory of piecewise-continuous systems (PCSs) (Koncar & Vasseur, 2003;Wang, Vasseur, & Koncar, 2008;Wang, Kalchev, Tian, Simeonov, & Christov, 2013), a particular PCO was first proposed for inverted pendulum control systems (Wang, Vasseur, Koncar, Chamroo, & Christov, 2010). Then, a similar observer was used in visual servoing of robot systems (Wang, Vasseur, Christov, & Koncar, 2012). In this paper, the general PCO algorithm is described and state estimation error analysis is performed.…”

Section: Introductionmentioning

confidence: 99%

Piecewise-continuous observers for linear systems with sampled and delayed output

Wang

Tian

Christov

2014

International Journal of Systems Science

Self Cite

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The paper presents a new class of state observers for linear systems with sampled and delayed output measurements. These observers are derived using the theory of a particular class of hybrid systems called piecewise-continuous systems, and can be easily implemented. The performances of the piecewise-continuous observers are compared with the performances of state observers designed using the Lyapunov-Krasovskii techniques. A piecewise-continuous observer is designed and implemented to an experimental visual servoing platform.

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Vision servoing of robot systems using piecewise continuous controllers and observers

Cited by 40 publications

References 20 publications

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

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

Optical flow tracking method for vibration identification of out-of-plane vision

Piecewise-continuous observers for linear systems with sampled and delayed output

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