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


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




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


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.


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Author Biography

Le Van Chung, Phạm Thượng Cát

Le Van Chung -1984. Get a master's degree of control and automation at Hanoi University of Science and Technology in 2011. Being fellow of the Institute of Information Technology - Vietnam Academy of Science in 2012. lecturer of the Faculty Automation Technology-Thai Nguyen university of information and communication technology since 2008. Main research is to study and develop methods of control robots, mobile robot, image processing, neural networks.




How to Cite

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.




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