Performance Degradation Monitoring and Recovery of Vision-Based Control Systems

Abstract

As an emerging need in vision-based control that is been intensively deployed in various applications, a systematic way of automatic performance recovery after system maintenance/control performance degradation is highly desired. On the one hand, vision-based control is an interdisciplinary field and the control performance of vision-based control systems is affected by not only uncertain environmental conditions but also the image processing latency, as well as the coordination of control and image processing algorithms. On the other hand, integration of image processing, control, and performance degradation recovery remains an open problem. In light of these observations, this brief deals with performance degradation monitoring and recovery with respect to the aforementioned factors. We first introduce a performance indicator by postfiltering the residual signal with the stable image representation of the feedback controller. It reveals a new interpretation of performance degradation recovery in the input- and output-recovery context. From this perspective, a real-time performance recovery approach is presented to enhance system performance over the lifetime. In the end, a vision-based inverted pendulum control system is implemented to verify the effectiveness of the proposed approach.