A new robust observer for the perspective system

Xinkai Chen, H. Kano, T. Fukuda

Research output: Chapter in Book/Report/Conference proceedingConference contribution

Abstract

In this paper, we consider the problem of estimating the position of an object moving in the space by observing its image with the aid of a CCD camera. The problem can be converted into the observation of a dynamical system with nonlinearities. A new method, which is inspired by the sliding mode techniques, is proposed to identify the obtained dynamical system. The attraction of the new method is that the identification can be finished in a very short time, the algorithm is very simple and easy to be implemented, and it is robust to measurement noises. Further, minor a priori knowledge of the system is required in the new formulation. Simulation results show the superiority of the new method to the traditional ones.

Original languageEnglish
Title of host publicationProceedings of the IEEE Conference on Decision and Control
Pages5163-5168
Number of pages6
Volume5
Publication statusPublished - 2000
Externally publishedYes
Event39th IEEE Confernce on Decision and Control - Sydney, NSW, Australia
Duration: 2000 Dec 122000 Dec 15

Other

Other39th IEEE Confernce on Decision and Control
CountryAustralia
CitySydney, NSW
Period00/12/1200/12/15

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Keywords

  • Machine vision
  • Observer
  • Perspective system

ASJC Scopus subject areas

  • Chemical Health and Safety
  • Control and Systems Engineering
  • Safety, Risk, Reliability and Quality

Cite this

Chen, X., Kano, H., & Fukuda, T. (2000). A new robust observer for the perspective system. In Proceedings of the IEEE Conference on Decision and Control (Vol. 5, pp. 5163-5168)