Time-delayed vision-based DC motor control via rightmost eigenvalue assignment

Author

Sun Yi ; Ulsoy, A. Galip

Author_Institution

Fac. of Mech. Eng., North Carolina A&T State Univ., Greensboro, NC, USA

fYear

2014

fDate

4-6 June 2014

Firstpage

5564

Lastpage

5569

Abstract

A design method for time-delayed vision-based DC motor control is presented and experimentally validated. Both proportional-velocity (PV) and proportional-integral-velocity (PIV) feedback controllers are considered. When vision is used to measure the angular displacement of the motor shaft time delays arise due to image processing. Such delays must be considered in the controller design or can lead to poor performance and even instability. In this research we use rightmost eigenvalue assignment, based on the Lambert W function method, to design PV and PIV controllers. Experimental results validate previous theoretical and simulation studies [19], [20].

Keywords

DC motors; control system synthesis; delays; eigenstructure assignment; feedback; image processing; machine control; shafts; Lambert W function method; PIV feedback controllers; PV feedback controllers; controller design; image processing; instability; motor shaft angular displacement; proportional-integral-velocity feedback controllers; proportional-velocity feedback controllers; rightmost eigenvalue assignment; time-delayed vision-based DC motor control; Cameras; DC motors; Delay effects; Delays; Eigenvalues and eigenfunctions; Image processing; Delay systems; Stability of linear systems; Vision-based control;

fLanguage

English

Publisher

ieee

Conference_Titel

American Control Conference (ACC), 2014

Conference_Location

Portland, OR

ISSN

0743-1619

Print_ISBN

978-1-4799-3272-6

Type

conf

DOI

10.1109/ACC.2014.6858677

Filename

6858677