TY - GEN
T1 - A switching control law for a networked visual servo control system
AU - Wu, Haiyan
AU - Chen, Chih Chung
AU - Feng, Jiayun
AU - Kühnlenz, Kolja
AU - Hirche, Sandra
PY - 2010
Y1 - 2010
N2 - In this paper, a novel switching controller is proposed for a networked visual servo control system with varying feedback delay due to image processing and data transmission. The varying image processing delay caused by the varying number of extracted features for pose estimation due to different view angles, illumination conditions and noise, is modeled by its occurrence probability. The time delay due to transmission over the communication network is also modeled as random process. By using a sampled-data system approach and an input-delay approach, the linearized visual servo control system is reformulated into a stochastic continuous-time system with time-varying delay. A novel stability condition and associated switching controller are derived based on the occurrence probabilities of delays. Experiments on a 1-DoF linear module equipped with a camera are conducted to validate the proposed approach. A non-switching controller approach is implemented for comparison. The experimental results demonstrate significant performance improvement of the proposed control approach.
AB - In this paper, a novel switching controller is proposed for a networked visual servo control system with varying feedback delay due to image processing and data transmission. The varying image processing delay caused by the varying number of extracted features for pose estimation due to different view angles, illumination conditions and noise, is modeled by its occurrence probability. The time delay due to transmission over the communication network is also modeled as random process. By using a sampled-data system approach and an input-delay approach, the linearized visual servo control system is reformulated into a stochastic continuous-time system with time-varying delay. A novel stability condition and associated switching controller are derived based on the occurrence probabilities of delays. Experiments on a 1-DoF linear module equipped with a camera are conducted to validate the proposed approach. A non-switching controller approach is implemented for comparison. The experimental results demonstrate significant performance improvement of the proposed control approach.
UR - http://www.scopus.com/inward/record.url?scp=77955803593&partnerID=8YFLogxK
U2 - 10.1109/ROBOT.2010.5509947
DO - 10.1109/ROBOT.2010.5509947
M3 - Conference contribution
AN - SCOPUS:77955803593
SN - 9781424450381
T3 - Proceedings - IEEE International Conference on Robotics and Automation
SP - 5556
EP - 5563
BT - 2010 IEEE International Conference on Robotics and Automation, ICRA 2010
T2 - 2010 IEEE International Conference on Robotics and Automation, ICRA 2010
Y2 - 3 May 2010 through 7 May 2010
ER -