A new robust observer for the perspective system

X. Chen, H. Kano, T. Fukuda

Research output: Contribution to journalConference article

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
Pages (from-to)5163-5168
Number of pages6
JournalProceedings of the IEEE Conference on Decision and Control
Volume5
Publication statusPublished - 2000 Dec 1
Externally publishedYes
Event39th IEEE Confernce on Decision and Control - Sydney, NSW, Australia
Duration: 2000 Dec 122000 Dec 15

Keywords

  • Machine vision
  • Observer
  • Perspective system

ASJC Scopus subject areas

  • Control and Systems Engineering
  • Modelling and Simulation
  • Control and Optimization

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