Intelligent Control for Visual Servoing System

This paper presents intelligent control for visual servoing system. The proposed system consists of a camera placed on a Pan Tilt Unit (PTU) which consists of two different servo motors. Camera and PTU are connected to a personal computer for the image processing and controlling purpose. Color thres...

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Main Authors:	Pebrianti, Dwi, Ong , Ying Peh, Rosdiyana, Samad, Mahfuzah, Mustafa, Bayuaji, Luhur, Nor Rul Hasma, Abdullah
Format:	Article
Language:	English English
Published:	Institute of Advanced Engineering and Science 2017
Subjects:	QA76 Computer software TK Electrical engineering. Electronics Nuclear engineering
Online Access:	http://umpir.ump.edu.my/id/eprint/20433/ http://umpir.ump.edu.my/id/eprint/20433/ http://umpir.ump.edu.my/id/eprint/20433/ http://umpir.ump.edu.my/id/eprint/20433/1/Intelligent%20Control%20for%20Visual%20Servoing%20System.pdf http://umpir.ump.edu.my/id/eprint/20433/2/Intelligent%20Control%20for%20Visual%20Servoing%20System%201.pdf

id	ump-20433
recordtype	eprints
spelling	ump-204332018-02-19T07:21:02Z http://umpir.ump.edu.my/id/eprint/20433/ Intelligent Control for Visual Servoing System Pebrianti, Dwi Ong , Ying Peh Rosdiyana, Samad Mahfuzah, Mustafa Bayuaji, Luhur Nor Rul Hasma, Abdullah QA76 Computer software TK Electrical engineering. Electronics Nuclear engineering This paper presents intelligent control for visual servoing system. The proposed system consists of a camera placed on a Pan Tilt Unit (PTU) which consists of two different servo motors. Camera and PTU are connected to a personal computer for the image processing and controlling purpose. Color threshold method is used for object tracking and recognition. Two different control methods, PID and Fuzzy Logic Control (FLC) are designed and the performances are compared through simulation. From the simulation result, the settling time of PID controller is 40 times faster than FLC. Additionally, the rise time of PID is about 20 times faster than FLC. However, the overshoot percentage of PID controller is 4 times higher than FLC. High overshoot value is not preferable in a control system, since it will cause the damage to the system. Real implementation of FLC on a home-built visual servoing system is conducted. Two different types of FLC, 9 and 11 rules of FLC are designed and implemented on the system. The experimental result shows that FLC with different total number of rules give different system performance. The settling time of FLC with 11 rules is 2 times faster than FLC with 9 rules. Additionally, the overshoot percentage of FLC with 11 rules is 2 times lower than FLC with 9 rules. Institute of Advanced Engineering and Science 2017 Article PeerReviewed application/pdf en http://umpir.ump.edu.my/id/eprint/20433/1/Intelligent%20Control%20for%20Visual%20Servoing%20System.pdf application/pdf en http://umpir.ump.edu.my/id/eprint/20433/2/Intelligent%20Control%20for%20Visual%20Servoing%20System%201.pdf Pebrianti, Dwi and Ong , Ying Peh and Rosdiyana, Samad and Mahfuzah, Mustafa and Bayuaji, Luhur and Nor Rul Hasma, Abdullah (2017) Intelligent Control for Visual Servoing System. Indonesian Journal of Electrical Engineering and Computer Science, 6 (1). pp. 72-79. ISSN 2502-4752 http://www.iaescore.com/journals/index.php/IJEECS/article/view/6543 DOI: 10.11591/ijeecs.v6.i1.pp72-79
repository_type	Digital Repository
institution_category	Local University
institution	Universiti Malaysia Pahang
building	UMP Institutional Repository
collection	Online Access
language	English English
topic	QA76 Computer software TK Electrical engineering. Electronics Nuclear engineering
spellingShingle	QA76 Computer software TK Electrical engineering. Electronics Nuclear engineering Pebrianti, Dwi Ong , Ying Peh Rosdiyana, Samad Mahfuzah, Mustafa Bayuaji, Luhur Nor Rul Hasma, Abdullah Intelligent Control for Visual Servoing System
description	This paper presents intelligent control for visual servoing system. The proposed system consists of a camera placed on a Pan Tilt Unit (PTU) which consists of two different servo motors. Camera and PTU are connected to a personal computer for the image processing and controlling purpose. Color threshold method is used for object tracking and recognition. Two different control methods, PID and Fuzzy Logic Control (FLC) are designed and the performances are compared through simulation. From the simulation result, the settling time of PID controller is 40 times faster than FLC. Additionally, the rise time of PID is about 20 times faster than FLC. However, the overshoot percentage of PID controller is 4 times higher than FLC. High overshoot value is not preferable in a control system, since it will cause the damage to the system. Real implementation of FLC on a home-built visual servoing system is conducted. Two different types of FLC, 9 and 11 rules of FLC are designed and implemented on the system. The experimental result shows that FLC with different total number of rules give different system performance. The settling time of FLC with 11 rules is 2 times faster than FLC with 9 rules. Additionally, the overshoot percentage of FLC with 11 rules is 2 times lower than FLC with 9 rules.
format	Article
author	Pebrianti, Dwi Ong , Ying Peh Rosdiyana, Samad Mahfuzah, Mustafa Bayuaji, Luhur Nor Rul Hasma, Abdullah
author_facet	Pebrianti, Dwi Ong , Ying Peh Rosdiyana, Samad Mahfuzah, Mustafa Bayuaji, Luhur Nor Rul Hasma, Abdullah
author_sort	Pebrianti, Dwi
title	Intelligent Control for Visual Servoing System
title_short	Intelligent Control for Visual Servoing System
title_full	Intelligent Control for Visual Servoing System
title_fullStr	Intelligent Control for Visual Servoing System
title_full_unstemmed	Intelligent Control for Visual Servoing System
title_sort	intelligent control for visual servoing system
publisher	Institute of Advanced Engineering and Science
publishDate	2017
url	http://umpir.ump.edu.my/id/eprint/20433/ http://umpir.ump.edu.my/id/eprint/20433/ http://umpir.ump.edu.my/id/eprint/20433/ http://umpir.ump.edu.my/id/eprint/20433/1/Intelligent%20Control%20for%20Visual%20Servoing%20System.pdf http://umpir.ump.edu.my/id/eprint/20433/2/Intelligent%20Control%20for%20Visual%20Servoing%20System%201.pdf
first_indexed	2023-09-18T22:29:27Z
last_indexed	2023-09-18T22:29:27Z
_version_	1777416187312865280

Intelligent Control for Visual Servoing System

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