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Image-based Visual Servoing for Automatic Control of Balancing Beam


Marković, Saša; Musić, Josip; Bonković, Mirjana
Image-based Visual Servoing for Automatic Control of Balancing Beam // Proceedings of 35th International Convention MIPRO 2012 / Biljanović, Petar (ur.).
Rijeka: Croatian Society for Information and Communication Technology, Electronics and Microelectronics - MIPRO, 2012. str. 2159-2164 (predavanje, međunarodna recenzija, cjeloviti rad (in extenso), znanstveni)


Naslov
Image-based Visual Servoing for Automatic Control of Balancing Beam

Autori
Marković, Saša ; Musić, Josip ; Bonković, Mirjana

Vrsta, podvrsta i kategorija rada
Radovi u zbornicima skupova, cjeloviti rad (in extenso), znanstveni

Izvornik
Proceedings of 35th International Convention MIPRO 2012 / Biljanović, Petar - Rijeka : Croatian Society for Information and Communication Technology, Electronics and Microelectronics - MIPRO, 2012, 2159-2164

ISBN
978-953-233-069-4

Skup
35th International Convention MIPRO 2012

Mjesto i datum
Opatija, Hrvatska, 21-25.05.2012

Vrsta sudjelovanja
Predavanje

Vrsta recenzije
Međunarodna recenzija

Ključne riječi
Visual servoing; control; Modelica; Broyden; population method

Sažetak
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.

Izvorni jezik
Engleski

Znanstvena područja
Elektrotehnika, Računarstvo



POVEZANOST RADA


Projekt / tema
023-0232005-2003 - AgISEco - Agentski orijentirani inteligentni sustavi nadzora i zaštite okoliša (Darko Stipaničev, )
023-0232006-1655 - Biomehanika ljudskih pokreta, upravljanje i rehabilitacija (Vlasta Zanchi, )

Ustanove
Fakultet elektrotehnike, strojarstva i brodogradnje, Split