IMPLEMENTATION OF IMAGE-BASED VISUAL SERVO (IBVS) WITH ROBUST CONTROL FOR YAW-PITCH CAMERA PLATFORM

• Main Author: Saripudin
• Format: Theses
• Language: Indonesia
• Online Access: https://digilib.itb.ac.id/gdl/view/35661
• Institution: Institut Teknologi Bandung

In this study, we will discuss the design of robust control for visual servoing on the yaw-pitch camera platform. In the initial stage a system identification process was carried out on the yaw-pitch camera platform by assuming the MIMO structure with two input and two output. After obtaining the yaw-pitch platform model equation, then it was integrated with a single object movement model on the camera projection so that the overall model model of the yaw-pitch camera was obtained. Taking into account the uncertainty in the system, then dynamic uncertainty is designed both on the input and output channel and also uncertainty in time delay. After obtaining the whole system model, the control system design is carried out using the H? mixed sensitivity and ?-synthesis controls. Weighting function is chosen such that the system could meet the performance specifications and robust stability requirements. The system used in this study is the SONY FCB-EV7520 camera which is placed on the yaw-pitch platform which consists of two servo motors. The control signal generated from the controller is used to adjust the servo motor so that it can direct the camera to the tracked object. The results obtained from the experiment show that the controller designed with robust control have good performances behavior with rise time 0.570 s, settling time 0.940 s and overshoot 0%.