engleski

Image-based Visual Servoing for Automatic Control of Balancing Beam

While uncalibrated image based visual servoing is traditionally used in robotics, in the paper we propose its application on the problem of automatic control of balancing beam with two thrusters, one at each end. Classical approach to the problem is application of PID regulator or LQR (linear quadratic regulator). Our proposal has several important advantages over these classical approaches: knowledge of exact mathematical model is not needed, no issues with observability and controllability, no need for regulator parameter identification, no calibration is needed. In the paper we propose application of Broyden and population algorithms within image based visual servoing framework for control and stabilization of balancing beam and test it in simulation environment. Obtained results are analyzed and compared to results obtained with PID. Several improvements and possible future research directions are proposed and discussed.

visual servoing; control; Modelica; Broyden; population method

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