LED chip accurate positioning control based on visual servo using dual rate adaptive fading Kalman filter.
LED chip accurate positioning control based on visual servo using dual rate adaptive fading Kalman filter.
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DOI：
10.1016/j.isatra.2018.11.026
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发表时间：
2019-04
期刊：
影响因子：
7.3
通讯作者：
Ziyue Wang;Shihua Gong;Delong Li;Diyi Zhou;Huaiqing Lu
中科院分区：
文献类型：
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作者：
Ziyue Wang;Shihua Gong;Delong Li;Diyi Zhou;Huaiqing Lu
为了提高LED芯片的定位精度，提出了一种带时延补偿的双速率自适应渐消卡尔曼滤波算法，并将其应用于LED芯片视觉伺服定位系统中。首先，在视觉伺服控制系统中引入双速率卡尔曼滤波器结构，补偿视觉信息延迟，实现编码器与视觉反馈的精确时序协调。然后，考虑到系统数学模型的不精确性，在上述算法的迭代过程中加入自适应遗忘因子，从而减轻了模型误差累积对系统稳定性的影响。实验结果表明，该方法明显减小了LED芯片的定位误差，对系统模型参数的不准确性和不确定性具有较强的鲁棒性。
In this paper, to improve the positioning accuracy of LED chip, a dual rate adaptive fading Kalman filter algorithm with delay compensation is proposed and applied to the LED chip visual servo positioning system. Firstly, a structure of dual rate Kalman filter is introduced to the visual servo control system, which compensate the visual information delay and realize the accurate time sequential coordination of encoder and visual feedback. Then, considering the inaccuracy of system mathematical model, the adaptive forgetting factor is added to the iterative process of above algorithm, and the impact of accumulated model error on system stability is consequently mitigated. Finally, the experimental results show that the proposed method obviously decreases the positioning errors of LED chip and is robust to inaccuracy and uncertainty of system model parameters.