Đang chuẩn bị liên kết để tải về tài liệu:
Control of robot–camera system with actuator’s dynamics to track moving object

After modeling and analyzing the system, this paper suggests a new control method using an online learning neural network in closed-loop to control the Pan-Tilt platform that moves the Camera to keep tracking an unknown moving object. | Journal of Computer Science and Cybernetics, V.31, N.3 (2015), 255– 265 DOI: 10.15625/1813-9663/31/3/6127 CONTROL OF ROBOT–CAMERA SYSTEM WITH ACTUATOR’S DYNAMICS TO TRACK MOVING OBJECT NGUYEN TIEN KIEM1 AND PHAM THUONG CAT2 1 Hanoi 2 Institute University of Industry (HaUI); kiemnguyentien@gmail.com of Information Technology, Vietnam Academy of Science and Technology; ptcat@ioit.ac.vn Abstract. This study presents a solution to the control of robot–camera system with actuator’s dynamics to track a moving object where many uncertain parameters exist in the system’s dynamics. After modeling and analyzing the system, this paper suggests a new control method using an online learning neural network in closed-loop to control the Pan-Tilt platform that moves the Camera to keep tracking an unknown moving object. The control structure based on the image feature error determines the necessary rotational velocities on the Pan joint and Tilt joint and computes the voltage controlling the DC motor in joints such that the object image should always be at the center point in the image plane. The global asymptotic stability of the closed-loop is proven by the Lyapunov direct stability theory. Simulation results on Matlab show the system tracking fast and stable. Keywords. Robot control, artificial neural network, visual servoing. Abbreviations. RBF: Radial Basic Function; DC: Direct Current Symbols: ξ Image-specializing vector; Jf Image Jacobian matrix; qd ˙ Desired Pan Tilt joint-angle velocity vector; q ˙ The actual joint-angle velocity vector of Pan-Tilt platform; Jr Jacobian matrix of Pan-Tilt platform; τ Joint torque vector of Pan-Tilt platform; wr Target coordinates in the coordinate system of the Pan-Tilt platform; o cr Target coordinates in the camera coordinate system; o uE Voltage vector controlling a direct current motor armature; i Current vector of direct current motor armature; and R Resistor matrix of direct current motor armature. 1. INTRODUCTION Pan-Tilt .