The Control Research About Motion Segmentation Feedback System Of Ball And Plate System

Ball and Plate System which is two dimensional extension of club system and hasbeen studied by many scholars as the study of nonlinear control system experimentalplatform at home and abroad is a typical multivariable, uncertainty, strong coupling,nonlinear dynamics of the underactuated system. According to the motionsegmentation control problem of the nonlinear underactuated system, the motionsegmentation algorithm in the machine vision and the fuzzy sliding mode algorithmwere studied to solved to research the output tracking control problem of theunderactuated system using the Ball and Plate System.The main topics of this paperare summarized as below:1．The mathematical model of Ball and Plate System is deduced in detail basedon the Euler-Lagrange dynamics equation of conservation of energy, and the relatedresearch conclusions about Ball and Plate System are given the system degrees offreedom, the kinematics and dynamics.Considering the complexity of the system,inorder to design system controller easily, the mathematical model was simplified. Atthe same time the general dynamics model and the simplified model of ignoring alltypes of frictions and the model on the basis of decoupling input and output of Balland Plate System were put forward.2．To solve the camera self-calibration of Ball and Plate System based on visualservo system, the fundamental matrix at Machine Vision was estimated accuratelybased on Geometrical Static Moment of Image. On this basis the two kinds of cameraself-calibration algorithm were used respectively: camera intrinsic matrix parametersunder one camera were calculate by using matrix decomposition equation based oncamera translation twice; camera self-calibration was realized by using Kruppaequation on the basis of the camera translation three times.3．In order to detect the movement of ball, a algorithm about three frames robustimage registration on the basis of SURF was puts forward to improve the real-timeand robustness of the continuous video frames registration and jump frame image registration. The slow motion of the ball was segmented by using the differential Andoperation algorithm based on background difference method, at the same time the"double" and "empty" phenomenon were solved. The pyramid optical flow method ofdifferential and operation algorithm based on Harris corner detection and backgrounddifference method was used to segment the moving targets accurately, at the sametime this algorithm reduced the amount of calculation and improved the ability toresist noise of the system greatly. The pyramid optical flow method on SURF and thedifferential “And” operation algorithm based on background difference method waseliminated the influence of the external environment change on the image andimproved the antinoise ability of the system.4．This paper aims at the Ball and Plate system which is highly nonlinear,uncertain parameters and the underactuated system, the Terminal sliding mode controlscheme based on disturbance observer is proposed. The scheme using disturbanceobserver to estimate the changes of uncertain parameters and various of disturbancesof system reduces the chattering phenomena in the Terminal sliding mode control.The scheme realizes robust output tracking about the control instruction, ensuressystem track error converge to a very small area in a limited time. The stability of thecontrol system has been proved by Lyapunov theory strictly. The simulation resultsshow that the Terminal sliding mode control based on disturbance observer caneffectively improve the bat trajectory tracking performance of the system.5．According to the mathematical model of the system, the equivalent slidingmode control is designed. To reduce the chattering phenomena in the equivalentsliding mode control, the adaptive fuzzy control can be used to approximate thecoefficient of the equivalent sliding mode control. The scheme realizes robusttracking of the desired movement of the ball and ensures trajectory error converge tozero in a limited time. The stability of the control system is proved by Lyapunovtheory strictly. The simulation results show that the adaptive fuzzy sliding modecontrol can effectively improve the trajectory tracking performance of the system.What has been discussed above, the control research about motion segmentationfeedback system of Ball and Plate System was studied in this paper, the results proved the effectiveness and the feasibility of the proposed control strategy.At the same timethe engineering application of motion segmentation of the proposed control strategyprovides a experiment way.