Analysis on an On-Line Iterative Correction Control Law for Visual Tracking  

Oleh:

Liu, David ; Fu, Li-Chen ; Hsu, Su-Hau ; Kuo, Teng-Kai

Jenis: Article from Article
Dalam koleksi: Final Program and Book of Abstracts: The 4th Asian Control Conference, September 25-27, 2002 (Sep. 2002), page 2130-2134.
Topik: On-Line Iterative; Correction; Control Law; Visual Tracking
Fulltext: AC021322.PDF (215.88KB)

Isi artikel

We present and analyze an iterative control algorithm that enables us to find a control input that generates the desired output asymptotically with parameter uncertainties. The proposed algorithm keeps the clearness and compactness of the control input update form of iterative learning control while being applicable to nonrepeatable tracking problems, specifically visual tracking. Uncertainties, such as misalignment of the optical axis of the camera with the motion platform, miscalibration, and other unknown parametric inaccuracies can be eliminated. Sufficient conditions for the convergence of the trajectories to the desired one are given. The performance and effectiveness are demonstrated through simulation.

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