Multirate predictor control scheme for visual servo control

Abstract

An attractive control scheme for a position-based dynamic "look and move" eye-inhand visual servo system is proposed. The multirate predictor control scheme is used to overcome the inherent delay in the vision system and the multirate nature of the dynamic look-and-move visual servo control scheme. The control scheme takes the form of a simple predictor placed in the major feedback of the standard Smith predictor control scheme. This in turn eliminates the delay time between the dynamics of the observed target and the control, in a similar fashion to the feedforward Smith predictor. Hence the proposed control scheme is also known as the modified Smith predictor (MSP) control scheme. A detailed analysis of the proposed control scheme is presented for visual servo control. Representative computer simulation studies are presented to verify the effectiveness of the proposed multirate predictor control scheme for dynamic visual tracking.