Multi-Rate Analysis and Design of Visual Feedback Digital Servo-Control System

[+] Author and Article Information
Mahadevamurty Nemani, Tsu-Chin Tsao

Department of Mechanical and Industrial Engineering, University of Illinois at Urbana-Champaign, Urbana, IL 61801

Seth Hutchinson

Department of Electrical and Computer Engineering, University of Illinois at Urbana-Champaign, Urbana, IL 61801

J. Dyn. Sys., Meas., Control 116(1), 45-55 (Mar 01, 1994) (11 pages) doi:10.1115/1.2900680 History: Received October 13, 1992; Revised March 18, 1993; Online March 17, 2008


This paper addresses the analysis and design of digital motion control system with machine vision as a feedback measurement in the servo loop. The camera vision is modeled as a discrete time-delayed sensor. A multirate formulation is proposed based on the fact that vision update rate is slower than the digital servo-control update rate and is analyzed through the lifting technique which converts the periodic time varying multirate system to a time invariant one. Some interesting properties of this specific multirate system are found and are utilized in control system design. An l -1 norm optimal control problem is formulated to minimize the maximum time domain error, which has direct connection to camera field of view and mechanical tolerance. A numerical example is given to demonstrate the presented methods.

Copyright © 1994 by The American Society of Mechanical Engineers
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