Eventos Anais de eventos
COBEM 2017
24th ABCM International Congress of Mechanical Engineering
Visual servoing stabilization of a ball and plate mechanism by using an enhanced disturbance rejection control method
Submission Author:
Alessandro Zachi , RJ
Co-Authors:
SERGIO RAMON DUARTE RIVEROS , Pedro Paulo Pinheiro Lima, Josiel Gouvêa, Antonio C. Leite, Alessandro Zachi
Presenter: Alessandro Zachi
doi://10.26678/ABCM.COBEM2017.COB17-2623
Abstract
This work describes a controller synthesis for the stabilization of a ball and plate system by using visual servoing technique. The mechanism is composed of a free rolling ball that moves on a flat plate fixed in its center. The plate tilting angles are driven by two DC motors physically attached to the X-axis and Y -axis of the plate. For the measurement of the controlled variable, i.e., the cartesian position of the ball, a stationary CCD camera is used. The proposed solution for the visual servoing controller is based on the formalism of the Active Disturbance Rejection Control (ADRC) aiming to account for the parametric uncertainties of the system camera-mechanism-motors. Simulation results are presented to illustrate the behavior of the closed-loop system.
Keywords
ball_and_plate mechanism, visual servoing, ADRC, Uncertain Parameters
