Visual servoing tracking control of a ball and plate system: Design, implementation and experimental validation

Ming Tzu Ho, Yusie Rizal, Li Ming Chu

研究成果: Article同行評審

21 引文 斯高帕斯(Scopus)

摘要

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.

原文English
文章編號287
期刊International Journal of Advanced Robotic Systems
10
DOIs
出版狀態Published - 2013 七月 9

All Science Journal Classification (ASJC) codes

  • 軟體
  • 電腦科學應用
  • 人工智慧

指紋

深入研究「Visual servoing tracking control of a ball and plate system: Design, implementation and experimental validation」主題。共同形成了獨特的指紋。

引用此