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Pregled bibliografske jedinice broj: 581764

Zbornik radova

Autori: Marković, Saša; Musić, Josip; Bonković, Mirjana
Naslov: Image-based Visual Servoing for Automatic Control of Balancing Beam
Izvornik: Proceedings of 35th International Convention MIPRO 2012 / Biljanović, Petar (ur.). - Rijeka : Croatian Society for Information and Communication Technology, Electronics and Microelectronics - MIPRO , 2012. 2159-2164 (ISBN: 978-953-233-069-4).
ISSN: 1847-3946
Skup: 35th International Convention MIPRO 2012
Mjesto i datum: Opatija, Hrvatska, 21-25.05.2012.
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.
Vrsta sudjelovanja: Predavanje
Vrsta prezentacije u zborniku: Ostalo
Vrsta recenzije: Međunarodna recenzija
Projekt / tema: 023-0232006-1655, 023-0232005-2003
Izvorni jezik: ENG
Kategorija: Znanstveni
Znanstvena područja:
Elektrotehnika,Računarstvo
Upisao u CROSBI: jmusic@fesb.hr (jmusic@fesb.hr), 28. Svi. 2012. u 14:06 sati



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