NDLI: Delay dependent stability limits in high performance real-time visual servoing systems

Content Provider	IEEE Xplore Digital Library
Author	Jing Zhang Lumia, R. Wood, J. Starr, G.
Copyright Year	2003
Description	Author affiliation: Dept. of Mech. Eng., New Mexico Univ., Albuquerque, NM, USA (Jing Zhang; Lumia, R.; Wood, J.; Starr, G.)
Abstract	This paper addresses the long-standing problem that visual feedback delay can drive a high bandwidth visual servoing system unstable. While some architectures become unstable with increasing image processing delay, we propose a novel visual servo implementation whose stability is independent of delay time. Performance decreases as image processing delay increases, but the system always remains stable. We demonstrate our new approach experimentally on a camera-pointing device. For those visual servo implementations that will become unstable with increased time delay, we propose an analytical method to find the upper limit of acceptable delay, using equations derived from the Nyquist stability criterion. The approach described in this paper is not only a useful tool for design and implementation of stable visual servoing systems, but also has general application to other dynamic systems with delay elements.
Sponsorship	IEEE Robotics & Autom. Soc. IEEE Ind. Electron. Soc. Robotics Soc. Japan Soc. Instrum. & Control Eng. New Technol. Found
Starting Page	485
Ending Page	491
File Size	475903
Page Count	7
File Format	PDF
ISBN	0780378601
DOI	10.1109/IROS.2003.1250676
Language	English
Publisher	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Publisher Date	2003-10-27
Publisher Place	USA
Access Restriction	Subscribed
Rights Holder	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Subject Keyword	Real time systems Visual servoing Delay effects Image processing Servomechanisms Feedback Bandwidth Equations Stability analysis Stability criteria
Content Type	Text
Resource Type	Article

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4	Project PI / Joint PI	Principal Investigator and Joint Principal Investigators of the project	Dr. B. Sutradhar bsutra@ndl.gov.in Prof. Saswat Chakrabarti will be added soon
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