Visual servoing tracking control of a ball and plate system

Design, implementation and experimental validation

Ming-Tzu Ho, Yusie Rizal, Li Ming Chu

Research output: Contribution to journalArticle

13 Citations (Scopus)

Abstract

This paper presents the design, implementation and validation of real-time visual servoing tracking control for a ball and plate system. The position of the ball is measured with a machine vision system. The image processing algorithms of the machine vision system are pipelined and implemented on a field programmable gate array (FPGA) device to meet realtime constraints. A detailed dynamic model of the system is derived for the simulation study.By neglecting the high-order coupling terms, the ball and plate system model is simplified into two decoupled ball and beam systems, and an approximate inputoutput feedback linearization approach is then used to design the controller for trajectory tracking. The designed control law is implemented on a digital signal processor (DSP). The validity of the performance of the developed control system is investigated through simulation and experimental studies. Experimental results show that the designed system functions well with reasonable agreement with simulations.

Original languageEnglish
Article number287
JournalInternational Journal of Advanced Robotic Systems
Volume10
DOIs
Publication statusPublished - 2013 Jul 9

Fingerprint

Visual servoing
Computer vision
Systems analysis
Feedback linearization
Digital signal processors
Field programmable gate arrays (FPGA)
Dynamic models
Image processing
Trajectories
Control systems
Controllers

All Science Journal Classification (ASJC) codes

  • Software
  • Artificial Intelligence
  • Computer Science Applications

Cite this

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Visual servoing tracking control of a ball and plate system : Design, implementation and experimental validation. / Ho, Ming-Tzu; Rizal, Yusie; Chu, Li Ming.

In: International Journal of Advanced Robotic Systems, Vol. 10, 287, 09.07.2013.

Research output: Contribution to journalArticle

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