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Visual Servoing using Mixed Sensitivity H Control for Yaw-Pitch Camera Platform

Saripudina, Asali M.O.a, Indriyanto T.a, Trilaksono B.R.a

a School of Electrical Engineering and Informatics, Bandung Institute of Technology, Bandung, Indonesia

[vc_row][vc_column][vc_row_inner][vc_column_inner][vc_separator css=”.vc_custom_1624529070653{padding-top: 30px !important;padding-bottom: 30px !important;}”][/vc_column_inner][/vc_row_inner][vc_row_inner layout=”boxed”][vc_column_inner width=”3/4″ css=”.vc_custom_1624695412187{border-right-width: 1px !important;border-right-color: #dddddd !important;border-right-style: solid !important;border-radius: 1px !important;}”][vc_empty_space][megatron_heading title=”Abstract” size=”size-sm” text_align=”text-left”][vc_column_text]© 2019 IEEE.This paper describes a robust control technique based on mixed sensitivity \mathbf{H} {\infty} control on visual servoing for Yaw-Pitch camera platform. \mathbf{H} {\infty} control technique can guarantee robustness and performance which can resist high disturbance and ensure stability in the closed-loop control system. The main function of the controller is to keep the object at the center of the field of an image displayed by the camera. The platform consists of two models, the first is motor servo dynamics and second is a single object movement model in image space. Weighting function is chosen such that the system could meet the performance specifications and robust stability requirements. The system used in this study is the SONY FCB-EV7520 camera which is placed on the Yaw-Pitch platform which consists of two servo motors. The control signal generated from the controller is used to adjust the servo motor so that it can direct the camera to the tracked object. The results obtained from the experiment show that the controller designed with mixed sensitivity \mathbf{H} {\infty} control has a good control behavior with fast transient and small overshoot.[/vc_column_text][vc_empty_space][vc_separator css=”.vc_custom_1624528584150{padding-top: 25px !important;padding-bottom: 25px !important;}”][vc_empty_space][megatron_heading title=”Author keywords” size=”size-sm” text_align=”text-left”][vc_column_text]Control techniques,Fast transients,Mixed sensitivity,Performance specifications,Robust control techniques,Robust stability,Small overshoot,Weighting functions[/vc_column_text][vc_empty_space][vc_separator css=”.vc_custom_1624528584150{padding-top: 25px !important;padding-bottom: 25px !important;}”][vc_empty_space][megatron_heading title=”Indexed keywords” size=”size-sm” text_align=”text-left”][vc_column_text]H∞ control,mixed sensitivity,robust control,visual servoing[/vc_column_text][vc_empty_space][vc_separator css=”.vc_custom_1624528584150{padding-top: 25px !important;padding-bottom: 25px !important;}”][vc_empty_space][megatron_heading title=”Funding details” size=”size-sm” text_align=”text-left”][vc_column_text][/vc_column_text][vc_empty_space][vc_separator css=”.vc_custom_1624528584150{padding-top: 25px !important;padding-bottom: 25px !important;}”][vc_empty_space][megatron_heading title=”DOI” size=”size-sm” text_align=”text-left”][vc_column_text]https://doi.org/10.1109/ICAIIT.2019.8834610[/vc_column_text][/vc_column_inner][vc_column_inner width=”1/4″][vc_column_text]Widget Plumx[/vc_column_text][/vc_column_inner][/vc_row_inner][/vc_column][/vc_row][vc_row][vc_column][vc_separator css=”.vc_custom_1624528584150{padding-top: 25px !important;padding-bottom: 25px !important;}”][/vc_column][/vc_row]