Abstract
This paper presents the design, implementation and validation of real-time visual servoing tracking control for a ball and plate system. The position of the ball is measured with a machine vision system. The image processing algorithms of the machine vision system are pipelined and implemented on a field programmable gate array (FPGA) device to meet real-time constraints. A detailed dynamic model of the system is derived for the simulation study. By neglecting the high-order coupling terms, the ball and plate system model is simplified into two decoupled ball and beam systems, and an approximate input-output feedback linearization approach is then used to design the controller for trajectory tracking. The designed control law is implemented on a digital signal processor (DSP). The validity of the performance of the developed control system is investigated through simulation and experimental studies. Experimental results show that the designed system functions well with reasonable agreement with simulations.
Highlights
A ball and plate system is a common experimental setup in control laboratories
The position of the ball is measured with a machine vision system that uses an image sensor with a frame rate of 150 frames per second to guarantee a certain level of real‐time performance
By neglecting the high‐order coupling terms, the ball and plate system is simplified into two decoupled ball and beam systems, and an approximate input‐output feedback linearization approach [20] is used to design a controller for trajectory tracking
Summary
A ball and plate system is a common experimental setup in control laboratories. It consists of a horizontal plate, which is tilted along each of two horizontal axes such that a ball can be controlled to roll to any position on the plate. Based on a linear simplified model, [10] designed a PID controller and state observer feedback controller to achieved set‐point regulation and trajectory tracking. This paper presents the design, implementation, and validation of tracking control of a ball and plate system using visual feedback. The position of the ball is measured with a machine vision system that uses an image sensor with a frame rate of 150 frames per second to guarantee a certain level of real‐time performance. By neglecting the high‐order coupling terms, the ball and plate system is simplified into two decoupled ball and beam systems, and an approximate input‐output feedback linearization approach [20] is used to design a controller for trajectory tracking. Based on approximate input‐output feedback linearization, the design of a controller for trajectory tracking is given.
Sign-in/Register to view highlights & summary Sign-in/Register to access full text options 
Free) 
Talk to us
Join us for a 30 min session where you can share your feedback and ask us any queries you have
Schedule a call
