A Study on Robust Finite-Time Visual Servoing with a Gyro-Stabilized Surveillance System
This article presents the design and validation of a novel visual servoing scheme for a surveillance system. In this system, a two-axis gimbal mechanism operates the rotation of a camera which is able to provide visual information on the tracked target for the control system. The control objective i...
| Main Authors: | , |
|---|---|
| Format: | Article |
| Language: | English |
| Published: |
MDPI AG
2024-02-01
|
| Series: | Actuators |
| Subjects: | |
| Online Access: | https://www.mdpi.com/2076-0825/13/3/82 |
| _version_ | 1797242482890637312 |
|---|---|
| author | Thinh Huynh Young-Bok Kim |
| author_facet | Thinh Huynh Young-Bok Kim |
| author_sort | Thinh Huynh |
| collection | DOAJ |
| description | This article presents the design and validation of a novel visual servoing scheme for a surveillance system. In this system, a two-axis gimbal mechanism operates the rotation of a camera which is able to provide visual information on the tracked target for the control system. The control objective is to bring the target’s projection to the center of the image plane with the smallest steady-state error and a smooth transient response, even with the unpredictable motion of the target and the influence of external disturbances. To fulfill these tasks, the proposed control scheme is designed consisting of two parts: (1) an observer estimates simultaneously the matched and unmatched disturbances; and (2) a motion control law guarantees the finite-time stability and visual servoing performance. Finally, experiments are conducted for validation and evaluation. The proposed control system shows its consistency and ought to perform better than previous approaches. |
| first_indexed | 2024-04-24T18:39:56Z |
| format | Article |
| id | doaj.art-729db0fabb2f4112ae026a2788a6212b |
| institution | Directory Open Access Journal |
| issn | 2076-0825 |
| language | English |
| last_indexed | 2024-04-24T18:39:56Z |
| publishDate | 2024-02-01 |
| publisher | MDPI AG |
| record_format | Article |
| series | Actuators |
| spelling | doaj.art-729db0fabb2f4112ae026a2788a6212b2024-03-27T13:15:22ZengMDPI AGActuators2076-08252024-02-011338210.3390/act13030082A Study on Robust Finite-Time Visual Servoing with a Gyro-Stabilized Surveillance SystemThinh Huynh0Young-Bok Kim1Department of Mechanical System Engineering, Division of Energy Transport System Engineering, Pukyong National University, Busan 48513, Republic of KoreaDepartment of Mechanical System Engineering, Division of Energy Transport System Engineering, Pukyong National University, Busan 48513, Republic of KoreaThis article presents the design and validation of a novel visual servoing scheme for a surveillance system. In this system, a two-axis gimbal mechanism operates the rotation of a camera which is able to provide visual information on the tracked target for the control system. The control objective is to bring the target’s projection to the center of the image plane with the smallest steady-state error and a smooth transient response, even with the unpredictable motion of the target and the influence of external disturbances. To fulfill these tasks, the proposed control scheme is designed consisting of two parts: (1) an observer estimates simultaneously the matched and unmatched disturbances; and (2) a motion control law guarantees the finite-time stability and visual servoing performance. Finally, experiments are conducted for validation and evaluation. The proposed control system shows its consistency and ought to perform better than previous approaches.https://www.mdpi.com/2076-0825/13/3/82finite-time stabilitymotion controlsurveillance systemvisual servoing |
| spellingShingle | Thinh Huynh Young-Bok Kim A Study on Robust Finite-Time Visual Servoing with a Gyro-Stabilized Surveillance System Actuators finite-time stability motion control surveillance system visual servoing |
| title | A Study on Robust Finite-Time Visual Servoing with a Gyro-Stabilized Surveillance System |
| title_full | A Study on Robust Finite-Time Visual Servoing with a Gyro-Stabilized Surveillance System |
| title_fullStr | A Study on Robust Finite-Time Visual Servoing with a Gyro-Stabilized Surveillance System |
| title_full_unstemmed | A Study on Robust Finite-Time Visual Servoing with a Gyro-Stabilized Surveillance System |
| title_short | A Study on Robust Finite-Time Visual Servoing with a Gyro-Stabilized Surveillance System |
| title_sort | study on robust finite time visual servoing with a gyro stabilized surveillance system |
| topic | finite-time stability motion control surveillance system visual servoing |
| url | https://www.mdpi.com/2076-0825/13/3/82 |
| work_keys_str_mv | AT thinhhuynh astudyonrobustfinitetimevisualservoingwithagyrostabilizedsurveillancesystem AT youngbokkim astudyonrobustfinitetimevisualservoingwithagyrostabilizedsurveillancesystem AT thinhhuynh studyonrobustfinitetimevisualservoingwithagyrostabilizedsurveillancesystem AT youngbokkim studyonrobustfinitetimevisualservoingwithagyrostabilizedsurveillancesystem |