A new control method for stereo visual servoing system with Pan-tilt platform

Le Van Chung, Pham Thuong Cat
Author affiliations

Authors

  • Le Van Chung Phạm Thượng Cát
  • Pham Thuong Cat Institute of Information Technology, VAST

DOI:

https://doi.org/10.15625/1813-9663/31/2/5140

Keywords:

Target tracking, pan/tilt, stereo camera, neural network, Lyapunov stability.

Abstract

This paper proposes a new control method for Pan-Tilt  stereo camera system to track a moving object when there are many uncertainties in the parameters of both camera and Pan-Tilt platform. If a pair of cameras placed on the Pan-Tilt robot, it is unnecessary for its installation location to be determined accurately. Assuming that the optical parameters like focal length of two cameras in the simulation are the same. A two degree of freedom Pan-Tilt platform holding camera has many uncertain parameters such as inertial moment, Jacobian matrix, the friction and noise impact, etc. The proposed control algorithm is highly adaptive and robust due to the use of a compensating neural network with on-line learning rule. The asymptotic stability of overall control system is proved by Lyapunov's stability method.

Metrics

Metrics Loading ...

Downloads

Published

10-06-2015

How to Cite

[1]
L. V. Chung and P. T. Cat, “A new control method for stereo visual servoing system with Pan-tilt platform”, JCC, vol. 31, no. 2, pp. 107–122, Jun. 2015.

Issue

Section

Cybernetics

Most read articles by the same author(s)

1 2 > >>