Efficient Visual Feedback Method to Control a Three-Dimensional Overhead Crane

Autor:	Cheng-Yuan Chang, Zhi-Heng Yang, Lun-Hui Lee, Sung-Chih Ku, Chung-Hao Huang
Rok vydání:	2014
Předmět:	Engineering Adaptive control business.industry Control engineering Fuzzy control system Overhead crane Swing Motion control Fuzzy logic Control and Systems Engineering Robustness (computer science) Eye tracking Computer vision Artificial intelligence Electrical and Electronic Engineering business
Zdroj:	IEEE Transactions on Industrial Electronics. 61:4073-4083
ISSN:	1557-9948 0278-0046
DOI:	10.1109/tie.2013.2286565
Popis:	This paper presents an efficient method to capture the dynamic movement of a three-dimensional (3-D) overhead crane, enabling it to be controlled by visual feedback in real time with two cheap handy cameras. Two tracking areas and one positioning block in each frame are used to search image features and determine the useful vision information. The depth information of 3-D crane system in images can be also obtained by a tag on the dynamic plant. The presented visual tracking method involves comparison of the lightest or darkest points in the tracking or positioning area of a dynamic object and then computes the necessary trolley position and load swing in 3-D space. Upon tracking, the sensing data are sent to an adaptive fuzzy sliding-mode controller (AFSMC) to derive control power for the crane system. Accordingly, the merits of this AFSMC approach, including robustness of the sliding-mode control and the model-free property of the fuzzy logic for the 3-D crane system, are confirmed. Experimental results verify the improvement of the proposed methodology.
Databáze:	OpenAIRE
Externí odkaz:	https://explore.openaire.eu/search/publication?articleId=doi_________::5f02945e83a4ecb32374a0c3238f6a40 https://doi.org/10.1109/tie.2013.2286565 Zobrazit plný text záznamu