NDLI: Hybrid adaptive control of an active multi-focal vision system

Content Provider	IEEE Xplore Digital Library
Author	Unterholzner, A. Wuensche, H.-J.
Copyright Year	2010
Description	Author affiliation: Institute for Autonomous Systems Technology (TAS), University of the Bundeswehr Munich, 85577 Neubiberg, Germany (Unterholzner, A.; Wuensche, H.-J.)
Abstract	Active multi-focal vision systems are designed to perform visual tasks such as saccades and smooth pursuit movements. Saccades are fast movements to a given position, which is a time-optimal control problem. Smooth pursuit movement is used to follow moving objects and is a tracking control problem. Therefore we use a hybrid approach for the control of our vision system. For saccades we use sliding-mode control with a switching line, designed such that nearly time-optimal control performance is achieved. For smooth pursuit movement we use state-space control to attain adequate tracking performance. To widen the applicability of our multi-focal vision system, it is designed such that cameras are easily exchangeable. Thus system dynamics is subject to change, which implies the need for adaptive control. This paper presents the design of the resulting hybrid adaptive controller together with experimental results.
Starting Page	534
Ending Page	539
File Size	665639
Page Count	6
File Format	PDF
ISBN	9781424478668
ISSN	19310587
e-ISBN	9781424478682
DOI	10.1109/IVS.2010.5548136
Language	English
Publisher	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Publisher Date	2010-06-21
Publisher Place	USA
Access Restriction	Subscribed
Rights Holder	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Subject Keyword	Adaptive control Machine vision Sliding mode control Control systems Tracking Cameras Robust control Linear feedback control systems Vehicle dynamics Programmable control
Content Type	Text
Resource Type	Article

Sl.	Authority	Responsibilities	Communication Details
1	Ministry of Education (GoI), Department of Higher Education	Sanctioning Authority	https://www.education.gov.in/ict-initiatives
2	Indian Institute of Technology Kharagpur	Host Institute of the Project: The host institute of the project is responsible for providing infrastructure support and hosting the project	https://www.iitkgp.ac.in
3	National Digital Library of India Office, Indian Institute of Technology Kharagpur	The administrative and infrastructural headquarters of the project	Dr. B. Sutradhar bsutra@ndl.gov.in
4	Project PI / Joint PI	Principal Investigator and Joint Principal Investigators of the project	Dr. B. Sutradhar bsutra@ndl.gov.in Prof. Saswat Chakrabarti will be added soon
5	Website/Portal (Helpdesk)	Queries regarding NDLI and its services	support@ndl.gov.in
6	Contents and Copyright Issues	Queries related to content curation and copyright issues	content@ndl.gov.in
7	National Digital Library of India Club (NDLI Club)	Queries related to NDLI Club formation, support, user awareness program, seminar/symposium, collaboration, social media, promotion, and outreach	clubsupport@ndl.gov.in
8	Digital Preservation Centre (DPC)	Assistance with digitizing and archiving copyright-free printed books	dpc@ndl.gov.in
9	IDR Setup or Support	Queries related to establishment and support of Institutional Digital Repository (IDR) and IDR workshops	idr@ndl.gov.in

Adaptive DOB control of underwater robots

Control of supercavitating vehicles using adaptive integral sliding mode

Robust sliding mode control for a class of uncertain hybrid linear systems with Markovian jump parameter

Robust visual tracking of robot manipulators with uncertain dynamics and uncalibrated camera

Adaptive tracking control of underwater vehicle-manipulator systems

Stabilization for a class of nonholonomic perturbed systems via robust adaptive sliding mode control

Robust sliding mode control of 4WS vehicles for automatic path tracking

Variable Baseline Stereo Tracking Vision System Using High-Speed Linear Slider

Adaptive Position and Attitude Tracking of an AUV in the Presence of Ocean Current Disturbances

Hybrid adaptive control of an active multi-focal vision system

Similar Documents

Adaptive DOB control of underwater robots

Control of supercavitating vehicles using adaptive integral sliding mode

Robust sliding mode control for a class of uncertain hybrid linear systems with Markovian jump parameter

Robust visual tracking of robot manipulators with uncertain dynamics and uncalibrated camera

Adaptive tracking control of underwater vehicle-manipulator systems

Stabilization for a class of nonholonomic perturbed systems via robust adaptive sliding mode control

Robust sliding mode control of 4WS vehicles for automatic path tracking

Variable Baseline Stereo Tracking Vision System Using High-Speed Linear Slider

Adaptive Position and Attitude Tracking of an AUV in the Presence of Ocean Current Disturbances

Hybrid adaptive control of an active multi-focal vision system