Hardware-in-the-loop testing of current cycle feedback ILC for stabilisation and tracking control of under-actuated visual servo system

Vimala Kumari Jonnalagadda and Vinodh Kumar Elumalai

International Journal of Systems Science, 2021, vol. 52, issue 5, 1042-1060

Abstract: This paper presents an iterative learning control (ILC) scheme augmented with the feedback control for solving the nonlinear stabilisation and tracking control problem of ball on plate system, which is a class of under-actuated visual servo system. To enhance the trajectory tracking performance and deal with the real-time challenges of ball on plate system including the nonlinearity, inter-axis coupling and uncertain dynamics, we present a feed-forward learning control scheme, which iteratively updates the control input from one trial to the next, integrated with the cascade control. The ILC update law is synthesised based on the current iteration tracking error (CITE), and the uniform convergence of the input control sequence is presented using the contraction mapping technique. From image processing standpoint, for detecting the foreground objects from a video stream, a background subtraction algorithm using frame difference technique is employed. The efficacy of the proposed scheme is tested on a laboratory scale ball on plate system using hardware-in-the-loop (HIL) testing. Experimental results substantiate that augmenting the learning control with the feedback control not only reduces the tracking error significantly but also enhances the robustness of the closed loop system against the poor lighting conditions.

Date: 2021
References: Add references at CitEc
Citations:

Downloads: (external link)
http://hdl.handle.net/10.1080/00207721.2020.1853273 (text/html)
Access to full text is restricted to subscribers.

Related works:
This item may be available elsewhere in EconPapers: Search for items with the same title.

Export reference: BibTeX RIS (EndNote, ProCite, RefMan) HTML/Text

Persistent link: https://EconPapers.repec.org/RePEc:taf:tsysxx:v:52:y:2021:i:5:p:1042-1060

Ordering information: This journal article can be ordered from
http://www.tandfonline.com/pricing/journal/TSYS20

DOI: 10.1080/00207721.2020.1853273

Access Statistics for this article

International Journal of Systems Science is currently edited by Visakan Kadirkamanathan

More articles in International Journal of Systems Science from Taylor & Francis Journals
Bibliographic data for series maintained by Chris Longhurst ().