Conference paper
A switching control law for a networked visual servo control system
Institute of Automatic Control Engineering (LSR), Technische Universität München, D-80290, Germany1
In this paper, a novel switching controller is proposed for a networked visual servo control system with varying feedback delay due to image processing and data transmission. The varying image processing delay caused by the varying number of extracted features for pose estimation due to different view angles, illumination conditions and noise, is modeled by its occurrence probability.
The time delay due to transmission over the communication network is also modeled as random process. By using a sampled-data system approach and an input-delay approach, the linearized visual servo control system is reformulated into a stochastic continuous-time system with time-varying delay. A novel stability condition and associated switching controller are derived based on the occurrence probabilities of delays.
Experiments on a 1-DoF linear module equipped with a camera are conducted to validate the proposed approach. A non-switching controller approach is implemented for comparison. The experimental results demonstrate significant performance improvement of the proposed control approach.
| Language: | English |
|---|---|
| Publisher: | IEEE |
| Year: | 2010 |
| Pages: | 5556-5563 |
| Proceedings: | 2010 IEEE International Conference on Robotics and Automation (ICRA) |
| ISBN: | 1424450381 , 1424450403 , 9781424450381 and 9781424450404 |
| ISSN: | 10504729 and 2577087x |
| Types: | Conference paper |
| DOI: | 10.1109/ROBOT.2010.5509947 |
1-DoF linear module Control systems Data communication Data mining Delay effects Delay estimation Feature extraction Feedback Image processing Lighting Servosystems control system synthesis delay estimation distributed control feature extraction input delay approach linearized visual servo control system networked visual servo control system nonswitching controller pose estimation random process random processes sampled data system sampled data systems servomechanisms stochastic continuous-time system stochastic systems switching control law time varying delay feedback
